Dynamic Modeling of Robot Force Control System and Its Application to a Parts Handling Task
Akira Umeno,* Ken-ichiro Shimokura,* Takao Kakizaki*
and Kenji Kogure**
* NTT Human Interface Laboratories, 3-9-11 Midori-cho, Musashino, Tokyo, 180 Japan
** NTT Interdisciplinary Research Laboratories, 3-9-11 Midori-cho, Musashino, Tokyo, 180 Japan
Dynamic modeling of robot force control systems is investigated in consideration of object dynamics. Several basic dynamics models for robot force control systems are proposed, and related stability issues are discussed. The stability of the force control system deteriorates severely when collocation mode resonance, primarily due to object dynamics, occurs near non-collocated mode resonance due to robot dynamics. The dynamic modeling is applied to a parts handling task, whose conditions focus on gripper force deviation. Manipulator end-effector trajectory planning using the trapezoidal acceleration profile as well as a gripper force control system design to suppress the force deviation are presented to achieve the task. The results obtained indicate that the force control system based on the dynamics models can satisfy the required task conditions.