Complete accessibility of oscillations in robotic systems by orthogonal projections
Complete accessibility of oscillations in robotic systems by orthogonal projections
复制标题
通过正交投影完全可访问机器人系统中的振荡
DOI：
--
复制
发表时间：
1988
期刊：
影响因子：
--
通讯作者：
D. Tesar
中科院分区：
文献类型：
--
作者：
S. Tosunoglu;S.;D. Tesar
目前柔性机器人系统的控制器开发实践一般集中在单连杆机械臂上，并且适用于小振荡。这项工作解决了以m1关节和m2链路灵活性建模的n-链路、串行空间机器人系统的控制，使n≥m1 +m2。系统柔度由局部弹簧和非驱动的移动和旋转型伪关节建模。导出了不进行线性化或忽略某些项的完整模型的耦合、非线性、误差驱动的系统方程。对于该系统，用正交投影法研究了振动的完全可及性。结果表明，在机器人系统的某些构型下，控制器可能无法控制诱导振荡。在给定可达性的情况下，本文所开发的控制器保证了系统的全局渐近稳定。以六自由度辛辛那提米拉克龙T3-776工业机器人为例，进行了数值仿真。一个例子模拟了四个关节的系统顺应性，而另一个案例研究模拟了四个横向连杆的振荡。这些例子表明，即使在不准确的有效载荷描述下，该控制器也可以在跟踪所需轨迹时消除振荡。
The current practice of controller development for flexible robotic systems generally focuses on one-link robotic arms and is valid for small oscillations. This work addresses the control of n-link, serial, spatial robotic systems modeled with m1 joint and m2 link flexibilities such that n≥m1 +m2 . System compliance is modeled by local springs and nonactuated prismatic and revolute type pseudo joints. The coupled, nonlinear, error-driven system equations are derived for the complete model without linearization or neglecting certain terms. For this system, the complete accessibility of vibrations is studied by orthogonal projections. It is shown that under some configurations of a robotic system, the induced oscillations may not be accessible to the controller. Given accessibility, the controller developed in this work assures the global asymptotic stability of the system. Example numerical simulations are presented based on the model of a six-degree-of-freedom Cincinnati Milacron T3-776 industrial robot. One example models the system compliance in four joints, while another case study simulates four lateral link oscillations. These examples show that this controller, even under inaccurate payload description, eliminates the oscillations while tracking desired trajectories.