Reflected Wave Control for Generating Impact Motion Using a Flexible Manipulator

Recently, the rational motion of robots is required for further applications. Human motion gives many clues to studies of robotics. This study focuses on the fact that a human adjusts grip force when he/she performs an impact motion with a tool. The tools often have elasticity, and the human adjustment enables an effective impact motion. For reproduction of the impact motion with a flexible manipulator, this study models the elasticity as a wave system. The flow of the reflected wave is controlled during the impact motion based on the human adjustment of grip force. Since this study is based on the research of vibration suppression in elastic structures, it provides not only rational but also stable motion control. The experimental results show the validity of the proposed method.