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首页> 外文会议>ICMIT 2009 : Mechatronics and information technology >A Simple Peak Impact Force Estimation Method for a Multi-D.O.F Manipulator with Joint Servo
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A Simple Peak Impact Force Estimation Method for a Multi-D.O.F Manipulator with Joint Servo

机译：联合伺服多自由度机械臂的简单峰值冲击力估计方法

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摘要

This paper proposed a simple estimation method of peak impact force by a multi-D.O.F manipulator controlled by a joint servo on collision with a human or an environment. In the proposed method, an impact model of the manipulator including both compliances of joint servo and a soft material on a link is described as a 1-D.O.F impact model. Taylor expansion is introduced to more exactly estimate the peak impact force using the time that the value of time-derivative of the impact force equals to 0. As a result, the peak impact force is described as an algebraic function and can be easily and quickly estimated. Simple impact simulations using a 2-D.O.F manipulator were conducted to confirm the effectiveness of the proposed method. From the simulation results, it was confirmed that the estimated value of the peak impact force was in accordance with a peak point of a impact force calculated by numerical method.
机译：本文提出了一种简单的估算峰值冲击力的方法，该方法是由联合伺服控制的多自由度操纵器在与人或环境碰撞时控制的。在提出的方法中，将机械手的冲击模型（包括关节伺服和柔韧性材料在连杆上的柔度）描述为1-D.F.F冲击模型。引入泰勒展开法，以使用冲击力的时间导数等于0的时间更精确地估计峰值冲击力。结果，峰值冲击力被描述为代数函数，可以轻松快速地实现。估计。使用2-D.O.F机械手进行了简单的冲击仿真，以验证该方法的有效性。从模拟结果可以确认，峰值冲击力的估计值与通过数值方法计算出的冲击力的峰值一致。

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