A Study on Intelligent Control for Coordinated Motion of Robot Manipulators

当机器人系统需要进行复杂的操作时，例如，在一个实施例中，使一块软布保持平整，或移动一个沉重的大型物体，单个机械手无法完成这些任务。为了实现这些任务，机械手必须相互合作。此外，它们必须配备有用于操作者的支持功能，使得操作者容易地操纵协调的操纵器系统。由于操作对象中存在运动学和动力学不确定性，在设计过程中也要考虑这些不确定性，本文提出了一种实现上述功能的智能控制算法。智能是指能够自行适应环境不确定性的能力，具有智能的系统可以根据数据库系统中的结构化知识和来自传感器的信息进行适当的运动。基于作者提出的虚拟内模（Vim）概念，构建了智能控制系统。Vim是一种基于人类适应结构化环境不确定性能力的动态模型，为了验证所提算法的有效性，构建了三个具有VIM的实验系统。1)基于视觉传感器的装配系统，2）多机械手协同操作系统，3）单主多从机械手系统。使用该系统的几个实验已经证实了其有效性。

When robot systems should make complex operations, e. g., making a piece of soft cloth be kept in a plain, or moving a heavy large object, single manipulator can not achieve those tasks. For those tasks to be realized, manipulators must cooperate with each others. Moreover, they must be equipped with supporting functions for an operator so that the coordinated manipulator systems are manipulated easily by the operator. Since the operated object contains some kinematic and dynamic uncertainties, they should also considered in the design process.In this report an intelligent control algorithm which realize the functions mentioned above is proposed. The intelligence means an ability to adapt environmental uncertainties by itself, and systems with the intelligence can make proper motions based on structured knowledge in a data base system and information from sensors. The intelligent control system is constructed based on the concept of Virtual Internal Model (VIM) proposed by authors. The VIM is a dynamic model which is derived from human skills to adapt structured environmental uncertainties.In order to verify the effectiveness of the proposed algorithm, following three experimental systems with VIMs have been constructed. 1) Assembling system using vision sensor, 2) Cooperated manipulators system, 3) Single-master multi-slave manipulator system. The effectiveness has been convinced by several experiments using the systems.