Hybrid position/force control of flexible-macro/rigid-micro manipulator systems
Hybrid position/force control of flexible-macro/rigid-micro manipulator systems
复制标题
柔性宏观/刚性微机械臂系统的混合位置/力控制
DOI：
10.1109/70.508447
复制
发表时间：
1996
期刊：
影响因子：
--
通讯作者：
A. Matsumoto
中科院分区：
文献类型：
--
作者：
T. Yoshikawa;K. Harada;A. Matsumoto
本文提出了柔性-宏基准微机械臂组合系统的位力混合控制算法。在所提出的系统中，微机械手安装在柔性宏机械手的顶端。宏机械手运动范围大，但由于其灵活性，不能实现快速、精确的运动。相反，微操作手不能广泛移动，但可以快速准确地移动。通过利用巨型车系统的优势，尽管宏部具有灵活性，但其末端执行器的末端位置和作用力都可以很容易地控制。本文首先讨论了大型车辆系统的轨迹规划问题。其次，提出了准静态混合控制算法和动态混合控制算法。在我们的控制算法中，宏观部分被粗略地控制以实现期望的轨迹，并抑制振动。通过对微观部分的控制，补偿由于宏观部分的弹性而产生的位置和力误差。最后，为了验证所提控制算法的有效性，给出了实验结果。
Abstruct- In this paper, hybrid positiodforce control algorithms of combined flexible-macrokigid-micro manipulator systems are proposed. In the proposed system, the micro manipulator is attached at the tip of the flexible macro manipulator. The macro manipulator can move widely, but cannot realize fast and precise motion because of its flexibility. On the contrary, the micro manipulator cannot move widely, but can move fast and precisely. By taking advantage of the macrohicro system, both the end point position and the force exerted by its end effector can be easily controlled in spite of the flexibility in the macro part. This paper first discusses trajectory planning for the macrohicro system. Second, a quasi-static hybrid control algorithm and a dynamic hybrid control algorithm are developed. In our control algorithms, the macro part is controlled roughly to realize the desired trajectory, and suppress vibration. The micro part is controlled to compensate for the position and force errors due to the elasticity in the macro part. Finally, to verify the effectiveness of the proposed control algorithms, experimental results are shown.
DOI：
10.1115/1.3139652
发表时间：
1981-01-01
影响因子：
1.7
作者：
RAIBERT, MH;CRAIG, JJ
通讯作者：
CRAIG, JJ