手先の拘束状態遷移を考慮したロボットの位置・力適応制御

抄録

This paper presents an adaptive force-position control in task coordinates taking constraint state transitions of end-effector into account for constrained robot manipulators. In general, the constraints can be represented separately by the subset of generalized coordinates in task space. This controller works on a concept of orthogonalization between force and motion in the subspaces derived form constraints. The gains can be selected independently in each subspace. The friction force at contact point is also taken into account. The asymptotic convergence for both force and motion tracking errors is guaranteed by the Lyapunov-Like Lemma. Experimental results for a three D.O.F robot are shown to demonstrate the effectiveness of proposed method.