| 摘要 |
PROBLEM TO BE SOLVED: To obtain flexibility of manipulator tip end or the tip of a finger, and obtain flexibility of a joint part without adding a sensor at the intermediate link part. SOLUTION: The manipulator control device includes an angle detector (2) for detecting the joint angle of the manipulator, a force detector (7) for detecting the force acting on the tip end of the manipulator, a flexible model part (9) for defining flexible property of the tip end of the manipulator using the flexible model expressing the relationship between the force and the position of the manipulator tip end, an inverse kinematics operation part (12) for inputting the signal adding the positional command (11) and the positional displacement amount, and outputting a joint angle command, a joint angle following control part (6) which controls the joint angle, based on a joint angle following error (5) between the joint angle command and the joint angle in the manipulator control device for controlling the manipulator tip end according to the flexible model, an external force torque estimation part (15), a flexible model (17) of the joint, an adder (26) which adds the joint displacement amount to the joint angle command, and outputs the joint angle command to a subtractor (27), and the subtractor (27) obtaining a joint angle following deflection. COPYRIGHT: (C)2007,JPO&INPIT
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