Stable Force Control of Industrial Robot Based on Spring Ratio and Instantaneous State Observer

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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: 2016/03/01タイトル(英語): Stable Force Control of Industrial Robot Based on Spring Ratio and Instantaneous State Observer著者名: Takashi Yoshioka (Na gaoka University of Technology), Akinori Yabuki (Nagaoka University of Technology), Yuki Yokokura (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology), Toshimasa Miyazaki (Nagaoka University of Technolo著者名(英語): Takashi Yoshioka (Nagaoka University of Technology), Akinori Yabuki (Nagaoka University of Technology), Yuki Yokokura (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology), Toshimasa Miyazaki (Nagaoka University of Technology), Thao Tran Phuong (Nagaoka University of Technology)キーワード: industrial robot，two-inertia system，force control，resonance ratio control，instantaneous state observer要約(英語): To achieve force control of an industrial robot, this paper proposes a new force control method based on the spring ratio and the instantaneous state observer. To analyze the behavior of an industrial robot in contact with the environment, this paper analyzes a two-inertia system in contact with the environment. On the basis of the resonance ratio considering the environment, this paper shows that the stability of the resonance ratio control depends on the bandwidth of the torsional torque estimation. To achieve stable resonance ratio control, this paper employs the resonance ratio control with the instantaneous state observer. In addition, a force control system using the I-P force controller and the instantaneous state observer is employed. This paper shows that the resonance ratio of the force control system is determined to be the spring ratio S. The effectiveness of the proposed method is confirmed by a numerical simulation and experiments using the industrial robot arm.本誌: IEEJ Journal of Industry Applications Vol.5 No.2 （2016） Special Issue on Motion Control and its Related Technologies本誌掲載ページ: 132-140 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/5/2/5_132/_article/-char/ja/ Show more