Force Sensorless Hybrid Position/Force Control with Equivalent Mass Matrices Switching for Decoupled Rubbing Motion

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2023/03/01

タイトル(英語): Force Sensorless Hybrid Position/Force Control with Equivalent Mass Matrices Switching for Decoupled Rubbing Motion

著者名: Keita Shimamoto (Tsukuba Research Lab., YASKAWA Electric Corporation/Keio University), Toshiyuki Murakami (Keio University)

著者名(英語): Keita Shimamoto (Tsukuba Research Lab., YASKAWA Electric Corporation/Keio University), Toshiyuki Murakami (Keio University)

キーワード: hybrid control，equivalent mass matrix，force sensorless control，disturbance observer，multi-degrees-of freedom system

要約(英語): This paper presents a force sensorless workspace hybrid position/force control method with equivalent mass matrices switching for rubbing motion. The equivalent mass matrices express an interference between control axes. Since the determinant of the matrix computed from the design values of robots becomes near zero around the singular configuration of robots, the utilized matrices are often arbitrarily designed. However, inappropriate matrices conditions deteriorate control performance and could cause vibration during rubbing motion. This study reveals suitable equivalent mass matrices for rubbing motion depending on the velocity of the force control axes. Moreover, a hybrid controller with equivalent mass matrices switching depending on the expected velocity of the force control axes in tasks is proposed. The validity of the proposed hybrid controller is demonstrated by the experimental response of rubbing motion with a parallel link type direct-drive four-link manipulator.

本誌: IEEJ Journal of Industry Applications Vol.12 No.2 （2023） Special Issue on “Motion Control and its Related Technologies”

本誌掲載ページ: 107-116 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/12/2/12_22004247/_article/-char/ja/