Regulariation and Control of Multibody Systems with Irregular Modes of Operation

点击翻译按钮获取中文摘要

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.