関節形マニピュレータのコンプライアンス制御 : 第2報,冗長自由度を考慮した多自由度系への展開

抄録

A motion control system which can make a rate-input-type manipulator operate in position, force and/or compliance control mode, has been realized and each mode can be alternated on-line. In this case, since transformation from orthonogal coordinates to articulated coordinates is carried out by only a Jacobian pseudo-inverse matrix, force and/or compliance control and redundancy control are realized simultaneously. We noticed a mechanical mobile range on each joint of the manipulator, and each joint was positioned as far from its mechanical limits as possible, while the manipulator hand was kept at a reference position. This made the mobile range of the manipulator's hand wide. We confirmed the property of the control law through analyses and experiments.