ヒステリシスを含む可変弾性機能を有するロボット関節機構の計算モデル作成

抄録

This paper proposes stiffness modeling of a robotic joint with variable stiffness function. The robotic joint designed and developed by previous researches [1, 2] was used. This robotic joint has nonlinear stiffness characteristics including hysteresis. Then, a computation model that can predict stiffness change was developed to control a robotic joint easily. Therefore, the characteristics of stiffness were studied through experiments. Various improvements to the model formula of hysteresis lead to model equations that match experimental results. It was verified that the proposed computation model is effective to represent varying property of the joint through comparison between the experimental and calculated results.