産業用ロボットのジャーク信号と動力学に基づく動的閾値を用いる力センサレス接触検知

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: 2013/03/01

タイトル(英語): Variable Dynamic Threshold for Jerk Signal for Contact Detection in Industrial Robot without Force Sensor

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），横倉　勇希（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), Yuki Yokokura (Nagaoka University of Technology)

キーワード: センサレス力制御，産業用ロボット，外乱オブザーバ，接触検知　　force control，industrial robot，disturbance observer，contact detection

要約(英語): This study proposes a variable dynamic threshold for a jerk signal for achieving contact detection in industrial robots. A sensorless force control is useful for application to advanced industrial robots. The external torque of each joint is estimated accurately by using a disturbance observer and by inverse dynamics calculation. However, the phase-lag of the disturbance observer and the dynamic parameter error cause force estimation errors. These errors hamper quick and reliable contact detection in industrial robots. Therefore, this study proposes a useful contact detection approach that uses a variable dynamic threshold for a jerk signal. The proposed variable dynamic threshold reduces contact detection failures caused by force estimation errors during the free motion of a robot. The proposed threshold is suitable for robot motion and improves the speed of contact detection. Numerical simulation results show that the proposed method is valid for parameter variations in an actual industrial robot. In addition, experimental results show that the dynamic threshold is a useful technique even for application to general robot systems. The dynamic threshold is useful for application to any industrial sensorless force control system.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.133 No.3 （2013） 特集：産業計測制御全般

本誌掲載ページ: 368-377 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/133/3/133_368/_article/-char/ja/