Impact Reduction between a Robot and an environment using Command Signal Modification

로봇과 환경과의 충돌시 명령 신호 변경을 통한 충격량 감소

A robot manipulator is usually operated in two modes: free motion and constraint motion according to the fact whether the robot comes into contact with the environment or not. At the moment of contact, impact occurs, and sometimes, it can possibly degrade the robot's performance such as vibration and at worst, shortens its lifetime. In this article, a new proposed algorithm is described by introducing a command signal modification method on the basis of impedance control and a validity of the proposed algorithm is demonstrated by showing the simulation study.