1A1-K02 インピーダンス制御を用いたトルクフリーロボットアームに関する研究(医療・福祉ロボティクス・メカトロニクス)

Abstract

This paper gives an outline of the torque-free robot arm using impedance control. A mechanism of this robot arm is noninterference constant inertia arm of two D.O.F. Impedance control is applied to the control system of the robot arm. Because of torque-free, and operator can move the robot arm by more less force. The robot arm can be applied to a surgical robot. For example, a surgeon can move the robot arm holding and endoscope by his hand when an minimally invasive surgery is performed. We will simulate the control system and experiment on actual robot arm.