Abstract
This paper proposes a simple control algorithm to realize stable position of a multi-jointed robotic arm with absorbing impact force exerted on the tip of the redundant robotic arm. Also, recovery motion to a previous orientation maintained prior to the impact is easily realized by a present control algorithm. This control method is based on virtual desired trajectory technique mentioned on our previous research, which is formed by an integral controller that accumulates state-steady error of the tip positions of the robot. The impact force absorption can be realized by temporal stop of the integral controller and instant increase of differential gains utilized at PD controller for the robot motion, resulting in a hold of the virtual desired trajectory of joint angles and in the inhibition of back action against collisional obstacles. This method can be applied to conventional motor-driven mechanism, as a result, we can show that this proposed control algorithm can be applied without any change for the motor-driven structure, as well as an antagonistic wire-driven mechanism. Finally, we verify effectiveness and availability of the impact force absorption method by numerical analysis.
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