H_∞制御器を用いたマニピュレータの力制御 : 関節トルクフィードバックの適用

抄録

Force control using a hierarchical structure is discussed, which consists of upper force control and lower joint position control. The force controller calculates the joint position corrections necessary to control the force in the desired manner. These correction signals from the force controller are output to the lower controller and added to the nominal joint position command. In this paper, we apply mixed sensitivity design of H_∞ control theory to a force control system. The nominal model is discussed, and the robustness against modeling errors is analyzed. Owing to joint torque feedback control, the change of the controlled plant is reduced, so high gain force control can be achieved. Experimental results and eigenvalue analysis are also presented.