人間の把持状態に応じた可変インピーダンス制御

抄録

This article proposes a variable impedance control to improve the stability by changing impedance parameters according to the strength of griping force of the operator. In the proposed method, based on a stability analysis of impedance control, appropriate impedance parameters are derived so as to satisfy both the light maneuverability and robust stability. In the proposed variable impedance control, the impedance parameters are adjusted to be relatively heavier as the gripping force is becoming stronger to keep the system stable. The validity of the proposed system has been confirmed by experiment using a one degree-of-freedom linear stage driven by a ball screw with an AC motor, having kept the stability regardless of the amount of the applied gripping force.