適応制御を用いた2自由度ロボットの投球動作制御に関する研究

A throwing motion control for a 2 degree of freedom robot is studied. Our control objective is to reduce the target error that is the distance between the mark and the position where the object hit. We design a trajectory of the robot in consideration of the torque limit, the maximum angular velocity, the sensitivity of the target error and the time required, from beginning of the throwing motion to hitting a mark. We apply nonlinear dynamic compensation with parameter estimation for a trajectory control. Furthermore, our controller predicts the target error by using the estimated parameters, then it modifies the time when an object is released from hand to reduce the predicted target error. The effectiveness of this method is examined. The result shows that this method provides satisfactory performance for a reduction of target error