スコットラッセル型5軸ロボットアームの手先外力推定法

抄録

It is necessary to adapt the force control to the robot, in order to make robots perform complex tasks as human beings. In force control, the external force is measured by a force sensor attached to the tip of the robot arm. However, there are problems such as cost and labor of installation time. Therefore, the purpose of this study is to construct the method to estimate the force applied to the hand without using the sensor based on the dynamic model. In order to construct the dynamics model, modeling of this robot arm, constructing equation of motion and friction torque identification were performed. After that, an external force estimation experiment was performed and verified the effectiveness of this method was shown.