"CONSTRUCTION AND CONTROL OF ROBOT MANIPULATORS BASED ON AUTONOMOUS SPACE INFORMATION"

研究了利用惯性导航原理测量机器人机械臂的位置和姿态，并利用所获得的自主空间信息直接控制机械臂的可行性。1. 作为惯性传感器，“多传感器”被采用，因为它们具有合理的六轴规格，包括角运动的检测。2. 机器人的实际运动由平滑的工作运动和脉冲噪声激励组成。为了通过对检测到的加速度信号进行双积分得到正确的手位值，传感的动态范围必须足够大。该系统包括快速16位A/D转换器。对影响精确测量的主要因素进行了研究和修正。3. 目前，定位精度为(]SY.+-。[)1或[]1 .+-。[]在几秒钟的划水工作中，在测量机械手的运动时，在适度加速运动（2g p-p）或缓慢加速运动（0.2g p-p）的情况下，分别达到2%。整个6轴系统的完成是下一个问题。4. 提出了一种具有传感器冗余的位置传感平台构建方法，并通过仿真验证了该方法的有效性。5. 研究了一种基于获取的自主空间信息的机械臂控制方法。考虑到位置测量的零稳定性，有人提出将机器人工作/作业划分为连续的几个单元，每个单元包括一个巢位置，在巢位置将完成积分器的初始设置。6. 在ASIC上实现上述信号处理功能是非常理想的。如何将微加工过程制造的加速度传感器与合适的角度传感器结合使用，也是未来的一个重要问题。

Apossibility to measure the position and posture of a robot manipulator by the inertial navigation principle and to control the manipulator directly by the autonomous space information obtained has been studied and proved to be effective. 1. As the inertial sensors, "multi-sensors" have been adopted because of their reasonable 6-axs specifications including the detection of angular motions. 2. The real motion of robot manipulators consists of a smooth work motion and impulsive noisy excitations. In order to get the correct value of the hand position through double integration of the detected acceleration signal, the dynamic range of the sensing must be sufficiently large. The proposed system includes fast 16-bits A/D converters. The effect of main factors to prevent a precise measurement have been studied and corrected. 3. At present, a position accuracy of (〕SY.+-.〔)1 or (〕SY.+-.〔)2 percents is achieved for the case of moderately accelerating motion(2g p-p) or slowly one(0.2g p-p), respectively, in measuring the motion of the robot hand during a stroke work of several seconds. The completion of the whole 6-axs system is the next problem. 4. A method of constructin of position sensing platforms with sensor redundancy has been proposed and proved to be effective by simulations. 5. A control method of manipulators based on the autonomousspace information obtained has been studied. considering the zero stability of the position measurement, it has been proposed that a robotic work/job isdivided into successive several units, each of which includes a nest position where the initial set up of the integrators are to be done. 6. It is highly desirable to realize the functions of the above signal processing in an ASIC.It is also an important future problem to seek possibilities to use acceleration sensors made by micro-maching processes with appropriate angular sensors.