Stability Analysis for Impedance Control of Robot for Human-Robot Cooperative Task System

摘要

This paper presents stability analysis for an impedance control of a robot for a human-robot cooperative task system. In the stability analysis, an impedance characteristic of the robot, time delay of a human operator and a control of the robot, a compliance of structure of the robot, and an environmental stiffness in a cooperative task are taken into consideration. The proposed stability analysis simulation reveals that these elements have significant influence on the stability of the system. In order to confirm the usefulness of the stability analysis simulation, a verification experiment using an arm robot Mitsubishi PA-10 was performed. Experimental results illustrate that the proposed stability analysis is useful and effective to simulate the stability of the human-robot cooperative task system.