多自由度ロボットの仮想コンプライアンス制御

抄録

A new algorithm for force feedback control of a robot hand is presented. Using this algorithm, a programmable 6-d.o.f. compliance (translational: 3, rotational: 3) at the robot wrist can be implemented with a 6-d.o.f. robot and a 6-axis force and torque sensor. The hand velocity is determined using virtual mass, virtual spring const., virtual dashpot const. and force/position feedback signals. The control command to each actuator of the robot is computed from the hand velocity. It is shown that these computations can be performed in 55ms or less.