反射波制御に基づく柔軟マニピュレータの打撃動作

抄録

In recent years, the rational motion of robots is required for further applications. Human motion gives many clues to studies of robotics. This study focuses on the fact that he/she adjusts gripping force when a human performs an impact motion with a tool. In order to recreate the impact motion with a flexible manipulator, the flexibility is modeled as a wave system. The flow of the reflected wave is controlled during the impact motion based on the human adjustment of gripping force. Since this study is based on the research of vibration suppression in flexible structures, it provides not only rational but also stable motion control. The experimental results with the flexible manipulator show the validity of the proposed method.