机器人
理论(学习稳定性)
阻抗控制
电阻抗
控制理论(社会学)
计算机科学
机器人控制
任务(项目管理)
刚度
移动机器人
机器人运动学
模拟
控制工程
工程类
控制(管理)
人工智能
结构工程
电气工程
机器学习
系统工程
作者
Toru TSUMUGIWA,Ryuichi YOKOGAWA,Kazunobu Yoshida
标识
DOI:10.1109/iros.2004.1390020
摘要
This paper presents stability analysis for an impedance control of a specific robot system in a human-robot cooperative task system. In the stability analysis, we consider these conditions such as an impedance characteristic of the robot, time delay of a human operator and a control of the robot, a compliance of structure of the robot, and an environment stiffness respectively. The stability analysis simulation reveals that these conditions have significant influence on the stability of the system. In order to investigate the usefulness of the stability analysis simulation, a verification experiment using a Mitsubishi PA-10 robot arm was carried out. Experimental results illustrate that the investigated stability analysis is useful and effective to simulate and reveal the stability of the human-robot cooperative task system.
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