Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
This article proposes a method of configuring a two-stage mechanism with a wide range of motion and wide bandwidth control by adding a one-degree-of-freedom actuator with a narrower moving range but wider control bandwidth to a general-purpose manipulator. Then, the proposed band-separation control system is implemented in a manipulator with a linear actuator, and its effectiveness is verified by comparing it with conventional methods, constructing impedance control as an example. As a result, it was confirmed that the proposed method can reduce the displacement of the second stage compared to the conventional methods, and can achieve an impedance characteristic of an equivalent mass of 50 g in a wide moving range. Furthermore, as an application of the proposed method, a haptic interface based on variable impedance control was implemented and its performance was evaluated.
