Motion Control Strategy by A unified Position and Force Control

近年来，工业机器人被广泛应用于各种运动系统中。同时研究了位置控制、力控制等运动控制策略，以提高系统的控制性能。这些运动控制策略非常强大。然而，每个控制器是独立构造的，并且不用于位置和力的统一运动控制。此外，每个控制器适用于不同的运动方向。在最近的工业应用中，强烈要求位置和力控制的统一控制的发展，以实现触摸和推动运动等统一运动，包括在同一运动方向上的位置和力控制。针对上述问题，我们提出了统一运动的基本控制策略。在本研究中，我们考虑了以下几个方面：基于阻抗控制器的统一运动控制策略基于位置和反力矩反馈的振动控制第一项涉及多自由度机械手的位置和力的统一运动控制。特别是，我们介绍了作为统一运动的一个重要应用的触摸和推动运动。在第二项中，我们介绍了双质量共振系统。在这样的系统中，电机与负载之间的反作用力矩被反馈以保持稳定的运动响应。这里还引入了半闭环来获得期望的位置响应。换言之，通过位置和力矩(力)反馈实现所需的位置响应，从而提高了系统的稳定性。从这个角度来看，所提出的振动控制是位置和力统一运动控制的一种方法，并通过多个实验结果验证了该方法的有效性。

Recently, industrial robot has been widely utilized for many kinds of motion system. At the same time, the motion control strategies such as position and force control has been investigated to increase control performance of the system. These motion control strategies are very powerful. However each controller is constructed independently and is not utilized for a unified motion of the position and the force control. Furthermore each controller is applied to different motion direction. In recent industrial applications, the development of the unified control of position and force control is strongly required to implement the unified motion such as touching and pushing motion which includes the position and the force control at the same motion direction. To address the above issue, we develop a basic control strategy of the unified motion.In this research, the following items are considered.A Unified Motion Control Strategy Based on Impedance ControllerA Vibration Control by Position and Reaction Torque FeedbackThe first item relates to the unified motion of position and force control of multidegrees-of-freedom manipulator. In particular, we introduce the touching and pushing motion as an important application of the unified motion.In the second item, we introduce two-mass resonant system. In such a system, the reaction torque between motor and load is fed back to maintain the stable motion response. Here semi-closed loop is also introduced to obtained the desired position response. In other words, the desired position response is achieved by the position and the torque (force) feedback which increases the stability of the system. From this point of view, the proposed vibration control is one approach of the unified motion of position and force control.The validity of the proposed approach is confirmed through several experimental results.