Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
When the operator moves the robot arm (master), a propeller driven system (slave) such as a multi-rotor helicopter tracks the position, and when the slave comes into contact with an object, the contact force is feed back to the operator. (Below, the bilateral control systems) are attracting attention. Switching controllers that switch between controllers when contacting and non-contacting with an object have been proposed, but are susceptible to modeling errors in the contact object’s stiffness. In this research, we propose an adaptive controller that estimates the contact object’s stiffness in real time and uses it for control gain. The validity of the proposed adaptive controller is shown by experiments.
