Control of Interaction Force of Twin Direct-Drive Motor System Using Variable Wire Rope Tension With Multisensor Integration
Control of Interaction Force of Twin Direct-Drive Motor System Using Variable Wire Rope Tension With Multisensor Integration
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DOI：
10.1109/tie.2011.2130494
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发表时间：
2012
影响因子：
7.7
通讯作者：
C. Mitsantisuk;K. Ohishi;S. Katsura
中科院分区：
文献类型：
--
作者：
C. Mitsantisuk;K. Ohishi;S. Katsura
本文介绍了一种考虑不同水平钢丝绳张力的新型钢丝机器人系统，并分析了其在未知环境中执行任务时的性能。适应性钢丝绳张力控制，称为双直接驱动电机系统，为机器人交互系统提供了独特的结构。与传统的工业机器人相比，由于钢丝绳机构是一种低摩擦且重量轻的装置，因此它显着成为提高可靠性水平和提供安全用户交互的首选方法。另外，从辨识结果来看，可以通过改变钢丝绳张力来调节机器人系统的带宽。在控制器设计中，设计并应用了共模和差模两种工作模式的双扰动观测器来控制钢丝绳张力和相互作用力。提出了一种可变钢丝绳张力算法来根据人类的运动来改变机械带宽。高机械带宽和低刚度传动的优点相结合。关于振动效应的抑制和平滑相互作用力的产生，发现可变钢丝绳张力控制在实验设置中给出了最佳结果。
In this paper, a novel wire-based robot system with consideration of the different levels of wire rope tension is introduced, and its performance while executing a task in an unknown environment is analyzed. An adaptable wire rope tension control, called a twin direct-drive motor system, provides a unique structure for a robot interaction system. Compared with conventional industrial robots, it significantly becomes the preferred approach for improving the level of reliability and providing safe user interaction because the wire rope mechanism is a low friction and lightweight device. In addition, from the identification results, the bandwidth of the robot system can be regulated by changing the wire rope tension. In the controller design, dual disturbance observers with respect to two operation modes, namely, the common mode and the differential mode, are designed and applied for controlling the wire rope tension and interaction force. A variable wire rope tension algorithm is proposed to change the mechanical bandwidth based on the movements of a human. The advantages of a high mechanical bandwidth and low stiffness transmission are combined. With regard to the rejection of the vibration effects and the generation of a smooth interaction force, the variable wire rope tension control is found to give the best results in an experimental setup.