Development of Force-Controlled Robot Arm Using Mechanical Impedance Adjuster
Development of Force-Controlled Robot Arm Using Mechanical Impedance Adjuster
复制标题
利用机械阻抗调节器开发力控机械臂
DOI：
10.7210/jrsj.16.1001
复制
发表时间：
1998
期刊：
影响因子：
--
通讯作者：
S. Sugano
中科院分区：
文献类型：
--
作者：
T. Morita;N. Tomita;T. Ueda;S. Sugano
本研究旨在通过机械元件（MIA）实现机器人关节的无源阻抗控制，并利用该机构开发一种拟人机械手。该机构在实现高柔度方面具有传统力控制方法的优点。采用该关节机构的机械手适合于人机协调，因为每个关节都能实现安全运动。本文介绍了拟人机械臂（七自由度）的研究进展。手臂)由肩膀、肘部和手腕组成。本文还介绍了七自由度的实验评价。MIA臂通过柔度和阻尼调节、力跟随运动和轨迹控制。实验结果表明，该方法具有较好的抗干扰性。考虑到自重和阻尼的影响，MIA臂可以实现高性能的运动控制。
This study aims to realize passive impedance control of the robot joint by mechanical elements (MIA), and to develop an anthropomorphic manipulator using this mechanism. The mechanism has the advantage of conventional method of the force control in realizing high compliance. The manipulator which employs this joint mechanism is suitable for the human-robot coordination, because each joint can realize safety motion. This paper presents a development of the anthropomorphic robot arm (seven-D.O.F. MIA Arm) which consists of shoulder, elbow, and wrist. This paper also describes experimental evaluations of the seven-D.O.F. MIA Arm by means of compliance and damping adjustment, force following motion, and trajectory control. The experimental results show that the seven-D.O.F. MIA Arm can realize high performance in motion control with consideration to the effect of self-weight and damping.