Analysis of an External-Force-Dissipating Property Derived by Preserving Redundant Degrees of Freedom and Establishment of a Robot-Motion-Control Methodology with the Property

2015 Fiscal Year Final Research Report

• Project/Area Number: 24760202
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: University of Toyama
• Principal Investigator: Sekimoto Masahiro 富山大学, 大学院理工学研究部(工学), 講師 (40454516)
• Project Period (FY): 2012-04-01 – 2016-03-31
• Keywords: ロボットアーム / 自由度 / 制御 / 接触 / 適応

Outline of Final Research Achievements

In control of multi-joint robots, redundant degrees of freedom which are derived by task-space feedback control possess a property that the state transits along external forces in energy dissipation. We analyzed the external-force-dissipating property and built and evaluated a motion control methodology combining the potential mechanical function and the task-fulfilled function. The property was formulated in equations of motion of a robot on task variables and their null-space variables. Based on the result, we investigated the task accuracy during external-force dissipative motions in the cases that a motion control method with the external-force dissipation function was incorporated in endpoint manipulations, bilateral tele-operations, and serving tasks. The investigations concluded that the control method allows a robot to adaptively cope with an unexpected external force and continue a task without force sensors.

Free Research Field

工学