動的補償器を用いたロボットアームの力制御系に対する特性改善

抄録

A robot under end-point force control may often exhibit unstable behavior upon contact with the environment. To avoid these dynamic problems, control gains are usually reduced until stable behavior is obtained. In this study, dynamic compensators are adoped in force control loop in order to maintain high control gains. The force control of robot manipulators is analyzed in consideration of the flexibility of the driving system. The experimental results show that the proposed control methods give quick force responce, and do not have so sensitive properties to parameter variations.