记笔记

Development and Evaluation of Simulation Model for Force-free Control Strategies

Achala Pallegedara¹Yoshitaka Matsuda²Naruto Egashira³Takenao Sugi²Satoru Goto²

1. Department of Science and Technology,Graduate School of Science and Engineering Saga University,1 Honjo-machi,Saga 840-8502,Japan 2. Department of Advanced Technology Fusion,Graduate School of Science and Engineering Saga University,1 Honjo-machi,Saga 840-8502,Japan3. Department of Control and Information Systems Engineering Kurume National College of Technology,Fukuoka 830-8555,Japan

摘要：Construction and evaluation of the two different strategies of force-free control of industrial type robot arm is presented in this paper.First,robot arm dynamic model for two link model and basic structure of force-free control method are described.Then two different force-free control architectures are illustrated.Two different force-free control strategies are forcefree control by dynamic external torque and force-free control by dynamic torque independent compensation,respectively.Analysis of the each type of force-free control strategy is carried out for the single link and two links perspectives of industrial robot arm configurations by means of simulations under Matlab/Simulink environment.The model characteristics of the force-free control are exploited to discuss the application scenarios.Moreover,analysis of the force-free control is carried out by using real robot parameters throughout the simulations.Since the forcefree control deals with external forces applied on the robot arm,it can be used to illustrate the interactive force control between a human and a robot arm by passive motion over an external force.

关键词：

Force-free control（FFC）; Force-free control by external torque（FFC-ET）; Force-free control by torque independent compensation（FFC-TIC）;

会议名称：

2012 IEEE 6th International Conference on Information and Automation for Sustainability（ICIAFS2012）

会议时间：

2012-09-27

会议地点：

中国北京