Application of Hybrid Compliance/Force Control for Industrial Robot.

Abstract

In order to execute various contacting tasks, a robot must be controlled contacting force or contacting resistance. In the former case, a force-control is available, and in the latter case, an impedance-control and a compliance-control are useful. In this paper, we propose a Hybrid Compliance/Force Control (H. C. C.) which is a combination of a Hybrid Position/Force Control and a compliance-control. In this method, a position control, a force-control, and a compliance control can be switched for any direction of a given task. Moreover we compose typical 2 types of H. C. C. (torque-based and position-based), and both methods are installed in a 6-D. 0. F. industrial robot. This study shows compositions of 2 types of H. C. C. and their experimental results. 1.‚Í ‚ ¶ ‚ß ‚É ŽY‹AE-pƒ• ƒ{ ƒb ƒg‚Í •H •ê ‚Ö'å-Ê "Š "ü ‚³ ‚ê ‚é ‚± ‚AE‚ae ‚Á‚Ä,•]-ˆ ‚Í •l ŠÔ‚ª •s ‚í ‚´‚é‚´‚é ‚ð "¾‚È ‚© ‚Á‚½'P '² ‚È OEJ ‚è •Ô ‚µ •ì ‹AE‚â •d-Ê •¨ ‚Ì ƒn ƒ" ƒh ƒŠƒ" ƒO•ì ‹AE‚ð 'ã •s ‚· ‚é ‚ae ‚¤ ‚É ‚È ‚Á‚½.‚³ ‚ç ‚É ‹ß "N ‚Ì • § OEä ‹Z •p ‚Ì "-'B ‚Å,‚ae ‚è •l ŠÔ‚̘rŠÔ‚̘r ‚É‹ß ‚¢ "®•ì ‚ª ‰Â "\ ‚É ‚È ‚Á‚Ä ‚« ‚Ä‚¨ ‚è,•l ŠÔ‚ª ‹ß ‚à ‚¯ ‚È ‚¢ Šë OE¯‰Ó •Š ‚Ö‚Ì "K-p‚à •™•X ‚É•L ‚ª ‚è ‚Â ‚ ‚ ‚é. ‚µ ‚© ‚µ,OE» ŽÀ‚É ‚Í ‚» ‚Ì ‰Ò "-•ê •Š ‚Í •H •ê ‚È ‚Ç•® ‚¦ ‚ç ‚ê ‚½ŠÂ‹« "à ‚É OEÀ ‚ç ‚ê,-¢ ‚¾ˆê "Ê •l ‚Ì-Ú‚É •G ‚ê ‚é ‚± ‚AE‚Ì •-‚È ‚¢ •u•ê-p ‹@•v ‚AE ‚µ ‚Ä‚Ì-ð Š" ‚µ ‚©'S ‚Á‚Ä‚¢ ‚È ‚¢ ‚Ì ‚ª ŽÀ•î ‚Å ‚ ‚é.‚± ‚ê ‚Í ƒ• ƒ{ ƒb ƒg ƒRƒ" ƒgƒ• •[ ƒ‰ ‚ªˆÊ‚ªˆÊ 'u ‚â '¬ "x ‚È ‚Ç‚Ì "à ŠE ƒZ ƒ" ƒT•î •ñ ‚¾ ‚¯ ‚µ ‚©Žae ‚è ˆµ ‚í ‚¸,ŠO "I ‚È ŠÂ‹« •î •ñ ‚ð Ž©‚ç ‚Ì •s "®•î •ñ ‚AE‚µ ‚Ä-L OEø‚É •ˆ-•, Šˆ-Šˆ-p‚· ‚é Žè 'i ‚ð-L‚µ ‚Ä ‚¢ ‚È ‚¢ ‚± ‚AE‚ª Žåˆö ‚AE•l ‚¦ ‚ç ‚ê ‚é.-{ • ¶ ‚Å ‚Í,ŠO ŠE•î •ñ ƒZ ƒ" ƒT ‚AE‚µ ‚Ä-ÍŠo ƒZ ƒ" ƒT ‚ð Žg-p‚µ ‚½ ƒ• ƒ{ ƒb ƒgƒA •[ ƒ€ • § OEäOEn‚Ì •\ •¬-@‚ð •q ‚× ,6Ž² ŽY‹AE-p "d "® ƒ• ƒ{ ƒb ƒg‚É ‚¨‚¢‚¨‚¢ ‚Ä "K-p ŽŽOE±‚ð ŽÀŽ{ ‚µ ‚½OE‹‰Ê ‚É ‚ ‚¢ ‚Ä•ñ •• ‚ð •s ‚¤. 2.ƒn ƒC ƒu ‚è ƒb ƒh •EƒR ƒ" ƒv ƒ‰ƒC ƒA ƒ" ƒX/-Í • § OEä-ÍŠo•î •ñ ‚ð-˜-p ‚· ‚é 'ã •\ "I ‚È Žè-@‚AE‚µ ‚Ä,•ì ‹AE'Î •Û‚Ö ‚Ì ‰Ÿ‚µ •t ‚¯-Í‚» ‚Ì ‚à ‚Ì ‚ð • § OEä‚· ‚éˆÊ‚éˆÊ 'u/ƒJ ƒn ƒCƒu ƒŠƒb ƒh• § OEä[1]‚AE, 'Î •Û•¨ 'Ì ‚É'Î ‚· ‚é •Ú•G 'ï •R ‚ð • § OEä‚· ‚é ƒRƒ" ƒv ƒ‰ ƒC ƒAƒ" ƒX• § OEä‚â ƒC ƒ" ƒs •[ ƒ_ ƒ" ƒX• § OEä[2]‚ª ‚ ‚é.'O ŽÒ‚Í Žå ‚AE‚µ ‚Ä'Î •Û •¨ 'Ì ‚Ö ‚Ì •í ‚¢ "®•ì(-á:OE¤-• •ì ‹AE•E ƒo ƒŠŽae ‚è •ì ‹AE‚È ‚Ç),OEã ŽÒ‚Í •_ "î ‚È "® •ì ‚ª •K-v‚AE‚³ ‚ê ‚é "®•ì(-á:'g-§ •ì ‹AE •E•à •s "®•ì ‚È ‚Ç)‚É OEü‚¢ ‚Ä‚¢ ‚é ‚AE•l ‚¦ ‚ç ‚ê ‚é.‚» ‚ê ‚ç ‚Ì "®•ì ‚ð • § OEä‚Ì-§ •ê ‚© ‚ç OE© ‚é ‚AE, ƒn ƒC ƒu ƒŠƒb ƒh• § OEä‚Å ‚Í •Ú•G Žž ‚Ì-ÍŠo •î •ñ ‚ð '¼ •Ú• § OEä-Ê‚AE‚µ ‚Ä ‚¢ ‚é ‚Ì ‚É 'Î ‚µ,ƒR ƒ" ƒv ƒ‰ ƒCƒAƒ" ƒX• § OEä‚Å ‚Í-ÍŠo •î •ñ ‚É ‚ae ‚Á‚Ä•Ú•G ‰ž"š ‚Ì "S •« ‚â •" •« ‚ð • § OE䂵 ‚Ä‚¢ ‚é ‚AE‚à ‚¢ ‚¦ ‚é.ƒC ƒ" ƒs •[ ƒ_ ƒ" ƒX • § OEä‚Å ‚Í •Ú •G‰ž"š ‚Ì Šµ •« ‚à • § OEä‚Ì 'Î •Û ‚AE‚· ‚é. ‚± ‚ê ‚ç ‚Ì • § OEäOEn‚Í •ì ‹AE"à-e‚â •Ú•G 'Î •Û•¨ ‚AE‚Ì •S '© •ð OE•‚É ‚ae ‚Á ‚Ä,•ì ‹AE'P ˆÊ ‚ ‚é ‚¢ ‚Í Ž©-R "x 'P ˆÊ ‚Å•Ø ‚è'Ö ‚¦ ‚é ‚± ‚AE‚ª •K-v‚AE‚È ‚é •ê • ‡ ‚ª ‚ ‚é.-á ‚¦ ‚ÎFig.1‚Ì ‚ae ‚¤ ‚É ƒgƒ‹ ƒNƒOEƒ" ƒ` ‚ð-p‚¢ ‚½ ƒ{ ƒ‹ ƒg'÷ ‚ß •t ‚¯ •ì ‹AE‚Å ‚Í,ƒOE ƒ" ƒ` ‚Ì ‰ñ "] •û OEü‚Í ‰~ ‹O "¹ ‚ð •` ‚-‚ae ‚¤ ‚ÉˆÊ 'u • § OEä,‰ñ "] •û OEü‚AE •‚ '¼ ‚È •û OEü‚Í ƒKƒ^ ‚â OEë•· ‚Ì ‹z Žû ‚Ì ‚½ ‚ß ‚É ƒRƒ" ƒv ƒ‰ ƒC ƒAƒ" ƒX• § OEä‚ð •s ‚¤.‚» ‚µ ‚Ä•ÅOEã‚Ì '÷ ‚ß •t ‚¯ Žž ‚É ‚͈ê‚͈ê 'è-Í‚Å ƒ{ ƒ‹ ƒg ‚ð-¯‚ß ‚é ‚½ ‚ß ‚É ‰ñ "] •û OEü‚É-Í• § OEä‚ð •s ‚¤. ‚³ ‚ç ‚É,•ì ‹AE'Î •Û•¨ 'Ì ‚Ì •¨ •«("S 'e •« ‚È ‚Ç)‚É ‚ae ‚Á‚Ä,ƒR ƒ" ƒv ƒ‰ ƒC ƒAƒ" ƒX/-Í• § OEäƒp ƒ‰ ƒ• •[ ƒ^ ‚à •Ï ‰»‚³ ‚¹ ‚é •K-v‚ª ‚ ‚é. ‚» ‚± ‚Å‰ä •X ‚Í ƒR ƒ" ƒv ƒ‰ ƒCƒAƒ" ƒX• § OEäOEn‚AE-Í• § OEäOEn‚Ì ‚» ‚ê ‚¼‚ê ‚Ì "Á '· ‚ð • ¶ ‚©‚· ‚½‚ß ‚É,ƒn ƒC ƒu ƒŠƒb ƒh•E ƒR ƒ" ƒv ƒ‰ƒCƒAƒ" ƒX/-Í • § OEä(H.C.C.)‚ð 'ñ ˆÄ ‚µ ‚Ä ‚« ‚½[3].H.C.C.‚Í ƒ• ƒ{ ƒb ƒg‚Ì6Ž©-R "x ‚Ì Še Ž©-R "x 'P ˆÊ ‚ÅˆÊ 'u/ƒR ƒ"ƒv ƒ‰ƒCƒAƒ" ƒX/-Í• § OEä‚ð ƒn ƒC ƒu ƒŠƒb ƒh‰»‚µ ‚½• § OEäOEn‚AE‚È ‚Á‚Ä ‚¢ ‚é.-{ •e ‚Å ‚ÍH.C.C.• § OEäOEn‚Ì •\ •¬-@[4][5]‚AE ‚µ ‚ÄŠÖ•ß ƒgƒ‹ ƒN Žw-ßOE^[6]‚AE ŠÖ•ß ˆÊ 'u Žw-ßOE^[7]‚Ì2Žè-@‚É ‚ ‚¢ ‚ÄŽ¦ ‚µ,‚³ ‚ç ‚É ‚» ‚ê ‚ç ‚ð6Ž² ŽY‹AE-p"d "® ƒ• ƒ{ ƒb ƒg‚Ö"K-p‚µ ‚½ ‚Ì ‚Å,‚» ‚Ì ŽŽOE± OE´•e Žó•t1993