| Budget Amount *help |
¥2,300,000 (Direct Cost: ¥2,300,000)
Fiscal Year 1994: ¥1,400,000 (Direct Cost: ¥1,400,000)
Fiscal Year 1993: ¥900,000 (Direct Cost: ¥900,000)
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| Research Abstract |
Recently, industrial robot has been widely utilized for many kinds of motion system. At the same time, the motion control strategies such as position and force control has been investigated to increase control performance of the system. These motion control strategies are very powerful. However each controller is constructed independently and is not utilized for a unified motion of the position and the force control. Furthermore each controller is applied to different motion direction. In recent industrial applications, the development of the unified control of position and force control is strongly required to implement the unified motion such as touching and pushing motion which includes the position and the force control at the same motion direction. To address the above issue, we develop a basic control strategy of the unified motion.
In this research, the following items are considered.
A Unified Motion Control Strategy Based on Impedance Controller
A Vibration Control by Position and Reaction Torque Feedback
The first item relates to the unified motion of position and force control of multidegrees-of-freedom manipulator. In particular, we introduce the touching and pushing motion as an important application of the unified motion.
In the second item, we introduce two-mass resonant system. In such a system, the reaction torque between motor and load is fed back to maintain the stable motion response. Here semi-closed loop is also introduced to obtained the desired position response. In other words, the desired position response is achieved by the position and the torque (force) feedback which increases the stability of the system. From this point of view, the proposed vibration control is one approach of the unified motion of position and force control.
The validity of the proposed approach is confirmed through several experimental results.
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