Impedance force control of free-joint manipulators with one motor under gravity
Impedance force control of free-joint manipulators with one motor under gravity
复制标题
重力作用下单电机自由关节机械臂的阻抗力控制
DOI：
10.1109/irds.2002.1041606
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
Takahiro Suzuki
中科院分区：
文献类型：
--
作者：
Takahiro Suzuki
本文研究重力势作用下的自由关节机器人。重力作用下的自由关节机械臂虽然是摆系统，但不同的是摆系统被控制到重力平衡状态，而自由关节机械臂被控制到另一种状态。通过平均分析，分析了第一关节在振动输入下的动力学行为。它澄清了动力学稳定的配置以外的引力平衡，可以实现使用一种人工的振动输入对重力产生的潜力。阐明了动态稳定系统对外部扰动的无源阻抗特性，提出了一种阻抗力控制方法，以衰减期望的阻抗特性。
In this paper, free-joint manipulators under gravity potential are to be considered. Although free-joint manipulators under gravity are namely pendulum systems, there is difference that pendulums are controlled to the gravitational equilibriums and these free-joint manipulators are controlled to the other configuration. Dynamical behaviors under vibrational input to the first joint are analyzed via averaging analysis. It is clarified that dynamical stabilization onto a configuration other than the gravitational equilibriums can be realized using a kind of artificial potential produced by vibrational input against gravity. Passive impedance property is clarified for the dynamically stabilized systems to an external disturbance and an impedance force control method to attenuate desired impedance property is proposed.