Non-Contact Impedance Control for Manipulators
Non-Contact Impedance Control for Manipulators
复制标题
机械手的非接触式阻抗控制
DOI：
10.7210/jrsj.15.616
复制
发表时间：
1997
期刊：
影响因子：
--
通讯作者：
M. Kaneko
中科院分区：
文献类型：
--
作者：
T. Tsuji;M. Hatagi;H. Akamatsu;M. Kaneko
阻抗控制是机械臂与环境接触时最有效的控制方法之一。在这种方法中，然而，机械手的末端执行器不移动，直到施加外力。因此来自环境的冲击力是无法避免的。本文提出了机械臂非接触式阻抗控制的概念，利用视觉信息调节末端执行器与外部物体之间的虚拟阻抗。首先，引入了不与机械臂接触的物体施加的虚力。虚拟力由非接触阻抗和物体的运动来计算，使机械臂能够在没有接触的情况下对接近的物体做出响应。然后将该方法应用于对象回避问题和接触任务。通过计算机仿真验证了该方法的有效性。最后，在平面任务空间中使用直接驱动机器人和PSD相机系统实现了该方法。实验结果表明，实现了高采样率和足够精度的非接触阻抗控制。
Impedance control is one of the most effective control method for a manipulator in contact with its environment. In this method, however, the end-effector of the manipulator does not move until an external force is exerted. Therefore an impact force from the environment cannot be avoided. The present paper proposes a concept of a non-contact impedance control for a manipulator, which can regulate virtual impedance between the end-effector and external objects using visual information. First, a virtual force exerted from the object that is not contact with the manipulator is introduced. The virtual force is computed from the non-contact impedance and the motion of the object, so that the manipulator can respond the approaching object without any contact. Then the proposed method applies to an object avoidance problem and a contact task. Validity of the proposed method is verified through computer simulations. Finally, the proposed method is implemented using a direct-drive robot and a PSD camera system in the planar task space. Experimental results show that the non-contact impedance control is realized with a high sampling rate and a sufficient accuracy.