Passive Control of Mechanical Systems with Coordination Requirements

* 9870013 Li本研究项目的目标是进一步发展最近提出的被动速度场控制（PVFC）范例，用于控制机械系统，通过应用到两个具体领域;机器人去障碍和遥控机械手。新的控制范式有两个独特的特点，即i）它明确了系统的任务的任何坐标要求，ii）它的目的是保持闭环系统的无源性。大多数以前的策略涉及到的控制任务分解成一个定时的轨迹的设计，并设计一个控制器来跟踪在每一个时刻的轨迹。这种模式预计将适用于有很强的协调要求的应用程序，并与不确定的物理环境的稳定和亲密的相互作用，需要安全运行。由于机器人去毛刺和遥控操作应用程序共享这些显着的特点，这些将同时适合。在机器人去毛刺中，刀具必须精确地遵循规定的刀具路径以避免意外的材料去除的约束强加了协调要求。此外，去毛刺工具必须与待去毛刺的工件相互作用。工具和工件之间不适当的相互作用会导致不稳定、工具损坏和去毛刺质量差。 另一方面，遥控操作的机械手系统的协调要求是由这样的事实，即与人交互的机械手和执行实际操作的机械手的运动必须相互模仿。此外，遥控操作的机械手必须与操作人员和工作环境进行物理交互。本项目将采用联合收割机理论和实验相结合的方法。

*** 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.***