著者

小俣 正輝 武田 行生 ツォイ ユン ホー

出版者

一般社団法人日本機械学会

雑誌

機素潤滑設計部門講演会講演論文集 (ISSN:13483919)

巻号頁・発行日

vol.2010, no.10, pp.181-182, 2010-04-18

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This paper presents the peg-in-hole task by a position-orientation decoupled parallel manipulator. This manipulator can achieve fast and accurate positioning and fine orientation adjustment of the platform. In order to enable the peg-in-hole task by this manipulator without force sensor on the platform for reduction of cost and moving mass, impedance control system with estimation of external force on the platform by measuring motor torque has been constructed. Controller design taking into account the allowable limit of position error and contact force has been presented. Experimental result of peg-in-hole task illustrates that the proposed impedance control system was properly designed.