非接触インピーダンスのオンライン学習と接触作業への応用

日本機械学會論文集. C編 Volume 70 Issue 695 Page 1999-2005 published_at 2004-07-25
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Title ( jpn )
非接触インピーダンスのオンライン学習と接触作業への応用
Title ( eng )
On-Line Learning of Non-Contact Impedance and its Appliation to Contact Tasks
Creator
Terauchi Mutsuhiro
Ishii Yasuhisa
Bu Nan
Source Title
日本機械学會論文集. C編
Transactions of the Japan Society of Mechanical Engineers. C
Volume 70
Issue 695
Start Page 1999
End Page 2005
Abstract
Impedance control is one of the most effective control methods for interaction between a manipulator and task environments. The force resulted by the interaction, however, does not occur until the end-effector of the manipulator touches its environment. A non-contact impedance control method has been proposed in order to achieve the impedance control before the contact. The method can regulate not only the end-point impedance but also the virtual impedance such that the end-effector is surrounded by a virtual object which can touch the environment before a real contact. This paper proposes a learning method using neural networks to regulate the virtual impedance parameters for given tasks. The validity of the method is verified through computer simulations and experiments with a conventional robot manipulator.
Keywords
Impedance Control
Virtual Impedance
Impedance Learning
On-Line Learning
NDC
Mechanical engineering [ 530 ]
Language
jpn
Resource Type journal article
Publisher
社団法人日本機械学会
Date of Issued 2004-07-25
Rights
Copyright (c) 2004 社団法人日本機械学会
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 0387-5024
[NCID] AN00187463