浮遊型双腕ロボットに搭載した3リンクアームのインピーダンス制御

抄録

We have been developing position control methods for Underwater Vehicle-Manipulator System (UVMS) and the effectiveness of developing control methods are confined by experiments. In spite of force control methods are also needed for UVMS, the control methods is a few and there is no experimental result. In this paper, we report on the simulation result of impedance control of one arm.