近接覚センサを用いた力制御におけるセンサ出力のモデル化による実験データに基づく解析の基礎検討

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  • Basic study of analysis based on experimental data by modeling sensor output in force control using proximity sensor

説明

<p>The authors have previously proposed an admittance control that uses the output of a proximity sensor as a virtual force as an impact force reduction control method for realizing safe robot contact and demonstrated its effectiveness through experiments. In this study, we discuss the parameter determination method and its effectiveness under various conditions of this control by modeling sensor output and analyzing the motion equarion of virtual object. As a result, we were able to formulate the position and velocity after convergence under the assumption that the velocity converges to a constant solution. By using this result, it is possible to determine the gain of the virtual force from the speed and position at the time of the collision. It is also possible to confirm the velocity and position at the time of the collision in advance.</p>

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