衝突を含む冗長系多リンクマニピュレータの位置決め安定制御

抄録

In this paper, a methodology using the Lyapunov direct method is proposed to analyze the stability of a nonlinear redundant multi-link manipulator system which is positioned on a flexible wall with collision phenomenon. The stability and response of the system are examined by parameter studies of numerical simulation. As the demands for rapid motion of robotics has been increasing in the field of industry to achieve higher efficiency, collision has become a problem to be solved, because every task includes contact when manipulator acts on an object. However, few researches have been undertaken to overcome this problem. In this paper, we employ a Hertz-type model with energy loss parameter to express the impact force between the manipulator and the wall. Using this model, we proved theoretically by Lyapunov direct method that this nonlinear system can be controlled with linear feedback law and that collision has the stabilization effect. The facts are confirmed by the simulations. In the simulations, it is also shown that simple decoupled feedback is more preferable than coupled feedback, if stability is more important than any others. As a result, stable positioning of the manipulator on the flexible wall is assured, and use of collision is sometimes effective to control manipulator to do a task with rapid contact to environment.