サーボ系をベースとしたインピーダンス制御における接触安定性の改善方法

Abstract

This paper proposes a new control algorithm of servo-based impedance control of robot manipulator for stabilization of contact task. There still has been stability problem of servo-based impedance control when a manipulator contacts to a stiff environment with a small viscosity coefficient of target impedance. The paper shows a stabilizing method for impedance control even with a small target viscosity. The proposed control system modifies the target dynamics model, but has no necessity to change the servo-control system. The simulations and contact task experiments show an extremely similar response to a target impedance and verify sophisticated contact stability with an one-tenth target viscosity and with over two times larger velocity more than the stability conditions limited for conventional control methods.