産業用ロボットの正確で高速な接触動作を実現するセンサレス力制御を用いたモーションコントロール法

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2012/03/01

タイトル(英語): Fine-Motion-Control Method for Realizing High-Accuracy and High-Speed Contact Motion of Industrial Robots by Employing Sensorless Force Control

著者名: 嶋田　直樹（長岡技術科学大学），吉岡　崇（長岡技術科学大学），大石　潔（長岡技術科学大学），宮崎　敏昌（長岡技術科学大学）

著者名(英語): Naoki Shimada (Nagaoka University of Technology), Takashi Yoshioka (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology), Toshimasa Miyazaki (Nagaoka University of Technology)

キーワード: 力制御，産業用ロボット，外乱オブザーバ　　force control，industrial robot，disturbance observer

要約(英語): This paper proposes a new fine-motion-control method for realizing high-accuracy and high-speed contact motion of industrial robots by employing sensorless force control. Today, although industrial robots have become considerably important in the modern industrial society, their functions are limited. A typical limited function is the positioning motion control of robots used in the manufacturing industry. Contact motion is necessary for almost all new applications. In this study, by employing the proposed motion control, smooth and quick contact motion of industrial robots is realized by using a sensorless I-P (Integral-Proportional) force feedback controller. The proposed method is simple and effective, takes into account both the inertia of a robot and the behavior of the I-P force controller. In the experiments, a three-degree-of-freedom robot is brought into contact with an object (a concrete block or a rubber board) by the I-P force control using the proposed method. Further, in the experiment, the motion of the robot's end-effector was considered. The validity of the proposed method is confirmed by using a six-axis force sensor and an acceleration sensor in the contact motion experiments.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.132 No.3 （2012） 特集：産業計測制御全般

本誌掲載ページ: 322-332 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/132/3/132_3_322/_article/-char/ja/