Moving Base Robotics and Reaction Management Control
Moving Base Robotics and Reaction Management Control
复制标题
移动基地机器人和反应管理控制
DOI：
10.1007/978-1-4471-1021-7_11
复制
发表时间：
1996
期刊：
影响因子：
--
通讯作者：
M. Uchiyama
中科院分区：
文献类型：
--
作者：
Kazuya Yoshida;D. Nenchev;M. Uchiyama
针对一类机械手系统位于移动基座上的机器人，提出了一种新的移动基座机器人研究范式。对于这样的机器人，机械手手臂和底座之间的运动学和动力学耦合降低了定位精度和操作灵活性。移动基座机器人分为以下四类：(A)自由浮动机械手系统，(B)柔性结构安装机械手系统，(C)宏小型机械手系统，(D)移动车载机械手系统。其中，本文重点研究了柔性结构安装机械手系统，因为这类系统表现出机械手操作与基座结构柔性之间固有的动态耦合，因此迫切需要避免基座振动的控制方法。介绍了一种利用反应零空间对反应管理控制进行动态分析的方法，并将其应用于PTP操作的无反作用力操作路径。本文还讨论了这类系统的力控制问题。
This paper addresses a new paradigm of moving base robotics, for a class of robots which have manipulator systems on a moving base. For such robots, kinematic and dynamic coupling between the manipulator arm and the base degrades positioning accuracy and operational dexterity. Moving base robots are classified into the following four categories: (a) Free Floating Manipulator System, (b) Flexible Structure mounted Manipulator System, (c) Macro-Mini Manipulator System, and (d) Mobile Vehicle mounted Manipulator System. Among them, this paper focuses the Flexible Structure mounted Manipulator System, because this class of system displays inherent dynamic coupling between manipulator operation and base structure flexibility, hence control methods to avoid base vibration are strongly needed. A dynamic analysis for reaction management control using the Reaction Null Space is introduced and applied to yield a reactionless operational path for PTP operation. Force control of this class of system is also addressed.