電気静油圧駆動ロボットアームの粘弾性動的最適化制御

抄録

This paper addresses a force control method that optimizes the joint-space viscoelasticity to realize a task-space viscoelasticity. In previous reports, we proposed an optimization method considering the whole-body dynamics, setting Frobenius norm of inverse of viscoelastic matrices as the evaluation function. In this paper, on the other hand, we test another evaluation function, setting Frobenius norm of viscoelastic matrices. Results of forward dynamics simulation show that the proposed method has a good performance when soft joint viscoelasticity is set as a reference. Moreover, we found that the proposed method resulted in the smallest Riemannian geodesic distance between the reference and optimized stiffness, compared with previous methods. We also validated the proposed method by an experiment using electro-hydrostatically-driven manipulator Hydracer.