CONTROL METHOD FOR FORCE AND POSITION OF MANIPULATOR AND DETECTING METHOD FOR FORCE USED THEREFOR AND CONTROL DEVICE FOR FORCE AND POSITION

摘要

PROBLEM TO BE SOLVED: To detect and control force without a sensor by finding model of a manupulator whose hand satisfies a restricting condition, calculating force of the hand to a plane from an equation of motion introduced from the model, and finding and controlling input necessary to make the calculated force coincide with a desired value. ;SOLUTION: Modeling of a robot to perform grinding work by a hand 2 on the tip of a manupulator 1 while contacting with a restricting surface 3, is performed. A system is described by an equation of motion on the basis of its model, and a speed of generalized coordinates and a condition to satisfy acceleration, are found under a restricting condition to be satisfied, and this is solved on restricting force (f). Since this becomes an inverse dynamics calculation, the restricting force (f) can be found by an operation without using a force sensor. Therefore, force control can be performed without using the force sensor.;COPYRIGHT: (C)1999,JPO