インナーループを用いた塑性変形制御によるロボットインタラクション

抄録

Propose of this paper is to add inner loop in Maxwell Control for getting robustness to the error of the model and real parameters. Inner loop is one of position feedback control based on the estimation calculated by model parameters and dynamics of robot hands. In this paper, we use position control system by using position and velocity gains to bring the trajectory of the end-effector near the desired trajectory. In this paper, we evaluate the robustness by comparing two methods: maxwell control and maxwell control with inner loop in both simulation and real environment. Finally, we show the stable action with inner loop maxwell control when we push the robot hand.