Regulariation and Control of Multibody Systems with Irregular Modes of Operation

具有不规则操作模式的多体系统的调节和控制

• 批准号: 8919097
• 负责人: F. Amirouche
• 金额: $ 3万
• 依托单位: University of Illinois at Chicago
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1989
• 资助国家: 美国
• 起止时间: 1989-09-01 至 1991-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=8919097&HistoricalAwards=false
• 关键词: Regulariation; Control; Multibody; Systems; Irregular

Certain mechanical systems, especially robotic systems operating in the presence of obstacles, are subjected to sudden changes in their motion in avoiding the obstacles. Such changes can severely affect the system's performance by inducing vibrations and thereby inaccuracies. Most research on robot collision avoidance has focused on description of the obstacles and derivation of the geometric (kinematic) conditions for avoiding collision between bodies. The related dynamics problem has not received a great deal of attention. The objective of this research is to develop a control algorithm that will be able to control the system dynamics to accommodate the rapid changes in motion. The methodology used in this project is based upon the variational formulation of dynamics. The controller developed will provide the optimum control forces to satisfy constraint conditions, can be activated at any specified time of a prescribed task interval, and will be computationally efficient to implement. This research will be carried out for redundant rigid robotic systems. If successful, subsequent research will explore broader application of the method to high speed flexible systems. Smoother motion associated with this controller could improve system performance, reliability, and position accuracy.

某些机械系统，尤其是机器人系统 在障碍物存在的情况下， 他们的动作避开了障碍物。 这种变化可能会严重 通过引起振动影响系统的性能， 不准确 机器人避碰的研究主要有 重点描述的障碍和推导的 避免碰撞的几何（运动学）条件 尸体 相关的动力学问题还没有得到大量的研究 注意力。 本研究的目的是开发一种 控制算法，将能够控制系统的动态 以适应运动中的快速变化。 使用的方法 在这个项目是基于变分公式的 动力学 开发的控制器将提供最佳的 控制力满足约束条件，可以激活 在规定的任务间隔的任何指定时间， 计算效率高的实现。 这项研究将是 为冗余刚性机器人系统进行。 如果成功， 后续研究将探索该方法的更广泛应用 高速灵活的系统。 更平滑的运动， 该控制器可以提高系统的性能、可靠性， 定位精度