| 摘要 |
PROBLEM TO BE SOLVED: To measure the contact state and the working force in an arbitrary portion of the body even when a robot performs various physical interaction with the external world. SOLUTION: The current position, speed and generating force robot device in each joint actuator are measured, and the acceleration and angular speed in one portion on the machine body are measured. The contact state with the external world on the machine body is detected to specify the point of application of external force, and the operation space inertia inverse matrix and bias acceleration are obtained by dynamics operation on the operating space, thereby calculating the known term on an equation of motion. The state of application of external force is estimated so that the relationship meeting the equation of motion holds between the operation space inertia inverse matrix and the bias acceleration. COPYRIGHT: (C)2007,JPO&INPIT
|
