Development of one-DOF robot arm equipped with mechanical impedance adjuster
Development of one-DOF robot arm equipped with mechanical impedance adjuster
复制标题
配备机械阻抗调节器的一自由度机械臂的研制
DOI：
10.1109/iros.1995.525828
复制
发表时间：
1995
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;S. Sugano
为了使机械手完成约束任务，将关节阻抗调整到合适的值是有效的。以前的研究大多使用主动力控制方法，该方法使用来自力传感器的信息。使用这种方法，性能受到伺服系统的响应，力传感器的非线性特性和机械手的动力学的限制。本研究的目的是借由一弹簧与一阻尼器所组成的机构，将机械臂的关节阻抗调整至一理想的程度。在以前的研究中，作者提出了一种使用弹簧机构的顺应性调整方法，伪阻尼器系统的结构和控制，以及协调系统的简单控制算法。在本文中，作者讨论了这些机构的效果的评估和控制方法使用的1-DOF手臂模型，这是新开发的基础模型，建立一个多自由度的机械手。
In order to realize constraint tasks by a manipulator, it is effective to adjust the joint impedance to the appropriate value. Most of the previous studies use the active force control method that uses information from force sensors. Using this method, the performances are limited by the responses of the servo systems, the non-linear characteristics of the force sensors and the dynamics of the manipulator. The object of this study is to adjust the joint impedance of the manipulator to an ideal degree by a mechanism which consists of a spring and a damper. In a previous study, the authors proposed a compliance adjustment method using the spring mechanism, the structure and control of the pseudo-damper system, and simple control algorithms for the coordinated system. In this paper, the authors discuss the evaluation of the effect of these mechanisms and the control method using the 1-DOF Arm Model which was newly developed as a base model to build a multiple degrees of freedom manipulator.