How to design force sensorless power assist robot considering environmental characteristics-position control based or force control based
How to design force sensorless power assist robot considering environmental characteristics-position control based or force control based
复制标题
如何考虑环境特性设计无力传感器助力机器人——基于位置控制还是基于力控制
DOI：
10.1109/iecon.2002.1185323
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
Yoichi Hori
中科院分区：
文献类型：
--
作者：
Hirokazu Seki;Masahito Iso;Yoichi Hori
作为老年人的重要支持之一，本文介绍了如何设计无力传感器助力机器人来辅助老年人的工作和照顾者的运动。由于助力运动存在多种环境，本文提出的控制方法以鲁棒控制为基础，考虑了环境特性。通过在DD机器人上的实验，比较了基于位置控制和基于力控制两种基本的助力方式。所提出的基于位置控制的方法利用了阻抗控制。在基于力控制的方法中，引入了环境观测器，对环境参数的变化具有鲁棒性。两者都能在环境特性未知的情况下实现稳定的助力运动。实验结果表明了这些方法的有效性。
In this paper, as one of important support for aged people, we present how to design force sensorless power assist robot assisting aged people's work and caregiver's motion. The proposed control methods in this paper are based on robust control and consider environmental characteristics because many kinds of environments exist in power assist motions. Two basic power assist methods, position control based and force control based, are compared through some experiments using a DD robot. The proposed position control based method makes use of impedance control. In force control based method, environmental observer is introduced to make robust against environmental parameter change. Both of them can realize stable power assist motion even if environmental characteristic is unknown. Some experimental results show the effectiveness of these methods.