This paper presents a realization of compliant motion by a decentralized control in redundant manipulator. Manipulator is divided into several subsystem, and each subsystem has virtual impedance in partial workspace. Each system performs autonomously by using virtual impedance and the information transmitted from tip side subsystem. The control system becomes independent from the degree of freedom(DOF) of total system. Furthermore to realize the adaptation against environment, the compliant motion of subsystem is introduced. When external force applied to subsystem, the reaction torques are estimated by reaction torque estimation observers. The external force is calculated by using the estimated reaction torques. Using the estimated external force, compliance motion of subsystem is realized by the force control against the environment. The validity of the proposed method is confirmed by the numerical results and experimental result by using a planar redundant manipulator.
|出版ステータス||Published - 2001 1月 1|
|イベント||2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings - Como, Italy|
継続期間: 2001 7月 8 → 2001 7月 12
|Other||2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings|
|Period||01/7/8 → 01/7/12|
ASJC Scopus subject areas
- コンピュータ サイエンスの応用