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Please use this identifier to cite or link to this item: http://hdl.handle.net/11133/1078

Title: 環境適応に関するハイブリッド制御を使用したロボットの組立作業の安定実現
Other Titles: カンキョウ テキオウ ニカンスル ハイブリッド セイギョ オ シヨウシタ ロボット ノ クミタテ サギョウ ノ アンテイ ジツゲン
Stable Execution of Assembly Tasks with Robot Using Hybrid Control Adaptive to Environmental Changes
Authors: 孟, 正大
安藤, 英由樹
平松, 誠治
加藤, 厚生
Meng, Zheng-da
ANDO, Hideyuki
HIRAMATSU, Seiji
KATO, Atsuo
Issue Date: 31-Mar-1999
Publisher: 愛知工業大学
Abstract: A improved hybrid control approach is presented in this paper. The control approach is based on external force and force tracking loops which are closed around the robot position system. An Adaptive algorithm is given when robot is interacting with environment with parameter uncertainties. For a well designed robot position system, external force loops can be designed and controlled easily with good performance. The approach is discussed in detail. In addition, non-circular peg-into-hole assembly tasks are performed with robots using this approach.
URI: http://hdl.handle.net/11133/1078
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