## 非駆動関節を有するマニピュレータの作業座標系における動的制御

### 荒井　裕彦，　舘　すすむ

#### ［和文要旨］

アクチュエータを持たない非駆動関節を有するマニピュレータを制御する手法の研究を進めている．これまでに関節間の動力学的干渉を利用して非駆動関節を制御する手法を提案し，位置制御の実験を行った．今回はマニピュレータ先端の位置を関節座標系ではなく作業座標系で制御する手法を提案する．マニピュレータの運動方程式を作業座標を用いて記述し，成分間の干渉を利用すれば，能動関節の個数と同じ数の成分に任意の目標加速度を与えることが可能である．非駆動関節を有する２自由度マニピュレータの先端位置を直交座標で表わし，成分のうち一方を目標軌道に追従させる実験を行った．

## Dynamic Control of a Manipulator with Passive Joints in an Operational Coordinate Space

### Hirohiko Arai and Susumu Tachi

#### [Abstract]

The authors have proposed a method of controlling a manipulator with passive joints which have no actuators. In this method, the coupling characteristics of manipulator dynamics are used, and no additional mechanisms are required. In this paper, a method to control the tip position of a manipulator with passive joints in an operational coordinate space is proposed. The equations of motion are described in terms of operational coordinates. The coordinates are separated into controlled coordinates and compensating coordinates. The number of the controlled coordinates is the same as the number of active joints. The accelerations of the controlled coordinates can be arbitrarily adjusted by using dynamic coupling of the manipulator. The effectiveness of the method is verified by experiments using a two-degree-of-freedom manipulator with a passive joint. The experiments show that the controlled coordinate of the position of the manipulator can be controlled precisely by use of the proposed method.

#### [Keywords]

Robotics, Manipulator, Dynamic Coupling, Passive Joint, Operational Coordinate Space