A Study on a Method for Switching Control Mode of Robot Manipulators (1st Report, A proposal of a Method for Switching Control Mode Based on Position and Force Errors)

摘要

This paper proposes a new switching method of control mode for a robot manipulator coming in contact with environment that has elasticity. First, the basic concept of the switching of the control mode in a robot manipulator is explained. Second, we propose a new method of switching the control mode that selects the control mode at the intersection of “Characteristic curve of position and force” and “Target value of the work composed by the desired value of position and force”. Next, the switching algorithm based on this method is obtained about a certain work coordinate with a Multi-DOF robot manipulator. In this paper, the switching method is named “A Method for Switching Control Mode Based on Position and Force Errors”. Furthermore, when a One-DOF robot manipulator driven by DC servo motor with reduction gears using an elastic joint came in contact with the object that has elasticity, the simulation and the experiment on various angle and torque controls were done. As a result, it is shown that the proposed switching method is useful and has stable and flexible characteristics.