産業用ロボットにおけるハイブリッド・コンプライアンス／力制御の適用

DOI 被引用文献2件 オープンアクセス

書誌事項

タイトル別名
  • Application of Hybrid Compliance/Force Control for Industrial Robot.

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説明

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.<BR>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.<BR>This study shows compositions of 2 types of H. C. C. and their experimental results.

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詳細情報 詳細情報について

  • CRID
    1390282679703923200
  • NII論文ID
    130001815453
  • DOI
    10.7210/jrsj.12.893
  • ISSN
    18847145
    02891824
    http://id.crossref.org/issn/02891824
  • 本文言語コード
    ja
  • データソース種別
    • JaLC
    • Crossref
    • CiNii Articles
    • OpenAIRE
  • 抄録ライセンスフラグ
    使用不可

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