On the dynamic analysis of a manipulator and its end effector interacting with the environment
On the dynamic analysis of a manipulator and its end effector interacting with the environment
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机械臂及其末端执行器与环境相互作用的动力学分析
DOI：
10.1109/robot.1987.1087876
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发表时间：
1987
期刊：
影响因子：
--
通讯作者：
K. Ogawa
中科院分区：
文献类型：
--
作者：
H. Asada;K. Ogawa
分析了机械臂及其末端执行器与环境相互作用的动力学行为。相对于末端执行器和环境之间的接触点来表示臂和末端执行器的惯性特性。然后，虚拟质量被定义为反射到接触点的臂和末端执行器的等效质量，并且由作用在该点上的力与由该点处的力引起的加速度的比率给出。与真实的质量不同，虚拟质量根据所施加力的方向和接触点的位置而变化。得到了虚质量的最大值和最小值，并讨论了其物理意义。接下来，考虑末端执行器的旋转运动。单个刚体具有质心;刚体的旋转和平移分离的特定点。质心的概念被扩展到一个刚体系统，如手臂连杆和末端执行器的成员。该点被称为广义质心，在该点处，线性力仅引起线性加速度，而纯力矩仅引起角加速度，因此分离。虚拟质量和广义质心，然后应用到任务规划的切削，硬表面接触，和动态插入操作。工具的定向和操纵器臂的配置被优化，使得可以通过在适当的点处具有适当的虚拟质量和广义质心来实现期望的动态行为。
Dynamic behavior of a manipulator arm and its end effector that interact with the environment is analyzed. Inertial properties of the arm and the end effector are represented with respect to a point of contact between the end effector and the environment. Virtual mass is then defined to be the equivalent mass of the arm and the end effector reflected to the point of contact, and is given by the ratio of a force acting on the point to the acceleration caused by the force at the point. Unlike a real mass, the virtual mass varies depending on the direction of the applied force and the location of the contact point. The maximum and minimum values of the virtual mass are then obtained and the physical meanings are discussed. Next, the rotational motion of the end effector is considered. A single rigid body possesses a centroid; a particular point at which rotation and translation of the rigid body are separated. The concept of the centroid is extended to the one for a system of rigid bodies such as arm links and the members of the end effector. The point is referred to as the generalized centroid, at which a linear force causes only a linear acceleration and a pure moment causes only an angular acceleration, hence separated. The virtual mass and the generalized centroid are then applied to task planning for chipping, hard surface contact, and dynamic insertion operations. The orientation of a tool and the configuration of the manipulator arm are optimized so that a desired dynamic behavior can be accomplished by having an appropriate virtual mass and the generalized centroid at an appropriate point.