Passive Control of Mechanical Systems with Coordination Requirements

*9870013 Li本研究项目的目标是通过在两个具体领域中的应用，进一步发展最近提出的用于机械系统控制的被动速度场控制范例：机器人去禁和遥操作机械手。这种新的控制模式有两个独特的特点：一是明确了任务对系统的任何协调要求，二是保持了闭环系统的无源性。大多数以前的策略包括将控制任务分解成定时轨迹的设计，以及设计控制器来跟踪每个时刻的轨迹。这一范例预计将适用于有强烈的协调要求以及需要与不确定的物理环境进行稳定和亲密的交互以确保安全运行的应用。由于机器人去禁和遥控操作应用程序共享这些显著特征，因此它们将同时适用。在机器人出栏中，协调要求是由这样的约束强加的，即刀具必须严格遵循规定的刀具路径，以避免意外的材料移除。此外，脱脂工具必须与要脱脂的工件相互作用。工具和工作之间不适当的相互作用可能会导致不稳定、工具损坏和不良的剥离质量。另一方面，遥操作机械手系统的协调要求是由于与人交互的机械手和执行实际操作的机械手的运动必须彼此模仿的事实。此外，遥控机械手必须与人类操作员和工作环境进行物理交互。本项目将采取理论与实验相结合的方法。

*** 9870013 Li The objectives of this research project is to further develop a recently proposed passive velocity field control (PVFC) paradigm for the control of mechanical systems, through the application to two concrete domains; robotic debarring and teleoperarted manipulator. The new control paradigm has two unique features, namely that i) it makes explicit any coordinate requirements of the task for the system, and ii) it aims to preserve the passivity property of the closed loop system. Most previous strategies involve the decomposition of the control task into the design of a timed trajectory, and the design of a controller to track the trajectory at each instant in time. This paradigm is expected to be suited for applications where there is a strong coordination requirement and where the stable and intimate interactions with uncertain physical environment are needed for safe operation. Since the robotic debarring and teleoperated manipulation applications share these salient features, these will be suited simultaneously. In robotic debarring, the coordination requirement requirement is imposed by the constraint that the tool must follow precisely the prescribed tool path to avoid unintended material removals.. Moreover, the debarring tool must interact with the work piece to be debarred. Inappropriate interaction between the tool and the work can lead to instability, damage to the tool, and poor debarring quality. On the other hand, the coordination requirement for teleoperated manipulator systems is imposed by the fact that the motions of both the manipulator that interacts with the human and of the manipulator performing the actual manipulation must mimic each other. In addition, a teleoperated manipulator must physically interact with both the human operator and the work environment. A combine theoretical and experimental approach will be taken in this project.***