2015 Fiscal Year Final Research Report
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
Project/Area Number |
24760202
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Research Category |
Grant-in-Aid for Young Scientists (B)
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Allocation Type | Multi-year Fund |
Research Field |
Intelligent mechanics/Mechanical systems
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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)
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Project Period (FY) |
2012-04-01 – 2016-03-31
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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.
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Free Research Field |
工学
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