An Optimal Approach Velocity of Manipulators to External Environments
An Optimal Approach Velocity of Manipulators to External Environments
复制标题
机械臂对外部环境的最佳接近速度
DOI：
10.7210/jrsj.8.4_413
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发表时间：
1990
期刊：
影响因子：
--
通讯作者：
M. Uchiyama
中科院分区：
文献类型：
--
作者：
K. Kitagaki;M. Uchiyama
提出了一种生成机械臂对环境最优接近速度的新方法，以实现对碰撞力的合理控制。首先，对接触运动的分析表明，不仅需要像以前的研究那样在碰撞之后进行接触控制，而且需要在碰撞之前进行接触控制。接下来，使用力控制的末端执行器及其环境的模型，在接触时产生的力被表述为一个自治系统的输出，该系统的初始条件由接近速度决定。最优接近速度被定义为使性能指标最小化的速度：在接触力控制中，接触力与平衡力的平方偏差的积分。基于力控末端执行器及其环境的质量-阻尼-弹簧模型，解析导出了最佳接近速度与接触力基准之间的比例关系。仿真和实验结果验证了该方法的有效性。
A new method of generating an optimal approach velocity of a manipulator to its environment is presented in order to control the collision forces properly. First, analysis of a contact motion shows the necessity of contact control not only after the collision, as in previous studies, but also before it. Next, using a model of the force-controlled end-effector and its environment, forces generated at the contact are formulated as outputs of an autonomous system of which the initial condition is determined by the approach velocity. The optimal approach velocity is defined as the velocity which minimizes a performance index : the integration of the square deviation of contact forces from an equilibrium forces in the control of contact forces. A proportional relation between the optimal approach velocity and the contact force reference is derived analytically based on a mass-damper-spring model of the force-controlled end-effector and its environment. Results in simulation and experiment are presented to prove the effectiveness of the method.