JP2007136564A5 - - Google Patents
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- JP2007136564A5 JP2007136564A5 JP2005329948A JP2005329948A JP2007136564A5 JP 2007136564 A5 JP2007136564 A5 JP 2007136564A5 JP 2005329948 A JP2005329948 A JP 2005329948A JP 2005329948 A JP2005329948 A JP 2005329948A JP 2007136564 A5 JP2007136564 A5 JP 2007136564A5
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- manipulator
- joint
- tip
- torque
- joint angle
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- 238000006073 displacement reaction Methods 0.000 claims 4
- 241001442055 Vipera berus Species 0.000 claims 2
Claims (5)
前記マニピュレータの関節角度を制御するにあたり、前記マニピュレータの関節に作用するトルクと前記マニピュレータの関節角度変位との関係を表す関節柔軟モデルを用いて前記マニピュレータの関節の柔軟特性を規定し、
前記マニピュレータの関節角度の追従誤差をもとに前記関節に加わるトルクを推定し、
前記推定したトルクを前記関節柔軟モデルに入力して前記関節の角度を制御することを特徴とするマニピュレータ制御方法。 With tip flexible model representing the relationship between the forces acting on the tip of the manipulator and the position of the manipulator tip defines a flexible characteristic of the manipulator tip, the tip flexible model by detecting the force acting on the tip of the manipulator In the manipulator control method for controlling the manipulator tip position by inputting to
In controlling the joint angle of the manipulator, the joint flexibility model representing the relationship between the torque acting on the joint of the manipulator and the joint angle displacement of the manipulator is used to define the joint flexibility characteristics of the manipulator,
Estimating the torque applied to the joint based on the tracking error of the joint angle of the manipulator,
A manipulator control method, wherein the estimated torque is input to the joint flexibility model to control an angle of the joint.
マニピュレータの先端に作用する力を検出する力検出器（７）と、
前記力とマニピュレータ先端の位置との関係を表す先端柔軟モデルを用いて前記マニピュレータ先端の柔軟特性を規定する先端柔軟モデル部（９）と、
前記力検出器（７）によって検出された力に対し前記先端柔軟モデル部（９）が出力した位置変位量（１０）と前記マニピュレータ先端の位置指令（１１）とを加算した信号を入力し関節角度指令（１３）を出力する逆運動学演算部（１２）とを備え、前記マニピュレータ先端位置を制御するマニピュレータ制御装置において、
前記マニピュレータの関節に作用するトルクと前記マニピュレータの関節角度変位との関係を表す関節柔軟モデル部（１７）と、
前記関節角度指令（１３）と前記関節角度（３）との差分である関節角度追従誤差（５）に基づき前記マニピュレータの関節角度を制御する関節角度追従制御部（６）と、
前記関節角度追従誤差（５）をもとに前記関節に加わるトルク推定値を求め、前記関節柔軟モデル部（１７）へ前記トルク推定値を出力する外力トルク推定部（１５）と、
前記外力トルク推定部（１５）からのトルク推定値を入力として前記関節柔軟モデル部（１７）から出力される関節変位量を前記関節角度指令に加算する加算器（２６）と、
前記加算器（２６）の出力と前記関節角度（３）との差分を前記関節角度追従偏差（５）として出力する減算器（２７）とを備えたことを特徴とするマニピュレータ制御装置。 An angle detector (2) for detecting the joint angle (3) of the manipulator;
A force detector (7) for detecting the force acting on the tip of the manipulator;
The force and the tip flexible model portion defining a flexible characteristic of the manipulator tip using a tip flexible model representing the relationship between the position of the manipulator tip (9),
A signal obtained by adding the position displacement amount (10) output from the tip flexible model portion (9) and the position command (11) of the manipulator tip to the force detected by the force detector (7) is input. inverse kinematics calculation unit for outputting the angle command (13) (12) and provided with, in the manipulator control device for controlling the manipulator tip position,
A joint flexible model portion (17) representing a relationship between a torque acting on a joint of the manipulator and a joint angular displacement of the manipulator;
The joint angle command (13) and the joint angle (3) for controlling the joint angle of the manipulator based on the joint angle tracking error (5) which is a difference between the joint angle tracking control section (6),
The joint angle tracking error (5) obtains the estimated torque value applied to the joint on the basis of the joint soft model portion (17) an external force torque estimating unit which outputs the torque estimated value to the (15),
The external force torque estimating unit the joint flexible model unit (17) adder for adding the joint displacement amount output to the joint angle command from the input torque estimation value from (15) and (26),
A manipulator control device comprising: a subtracter (27) that outputs a difference between the output of the adder (26) and the joint angle (3) as the joint angle tracking deviation (5) .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005329948A JP2007136564A (en) | 2005-11-15 | 2005-11-15 | Manipulator control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005329948A JP2007136564A (en) | 2005-11-15 | 2005-11-15 | Manipulator control method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2007136564A JP2007136564A (en) | 2007-06-07 |
| JP2007136564A5 true JP2007136564A5 (en) | 2008-12-25 |
Family
ID=38200035
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2005329948A Pending JP2007136564A (en) | 2005-11-15 | 2005-11-15 | Manipulator control method and device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2007136564A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012202181A1 (en) | 2012-02-14 | 2013-08-29 | Kuka Roboter Gmbh | Method for determining a torque and industrial robots |
| CN104991448B (en) * | 2015-05-25 | 2017-10-31 | 哈尔滨工程大学 | A kind of kinematic method for solving of submarine mechanical arm based on configuration plane |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06274216A (en) * | 1993-03-17 | 1994-09-30 | Fanuc Ltd | Method for controlling servo motor |
| JP3383614B2 (en) * | 1999-08-04 | 2003-03-04 | 技術研究組合医療福祉機器研究所 | Impedance control device for horizontal articulated robot arm |
| JP2001038664A (en) * | 1999-08-04 | 2001-02-13 | Yaskawa Electric Corp | Robot arm impedance control device |
-
2005
- 2005-11-15 JP JP2005329948A patent/JP2007136564A/en active Pending
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