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

《基于自主空间信息的机器人机械臂的构建与控制》

基本信息

批准号：
03452134
负责人：
HAKOMORI Kyojiro
金额：
$ 3.9万
依托单位：
TOHOKU UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (B)
财政年份：
1991
资助国家：
日本
起止时间：
1991 至 1993
项目状态：
已结题

项目摘要

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.

研究了利用惯性导航原理测量机械手的位置和姿态，并利用获得的自主空间信息直接控制机械手的可行性，证明了该方法的有效性。1.作为惯性传感器，“多传感器”由于其合理的6-AXS规格而被采用，包括角运动的检测。2.机械臂的真实运动由平稳的工作运动和脉冲式噪声激励组成。为了通过对检测到的加速度信号进行二次积分得到正确的手位值，传感器的动态范围必须足够大。该系统包括快速16位A/D转换器。对影响精密测量的主要因素进行了研究和修正。3.目前，对于中等加速运动(2gp-p)或缓慢运动(0.2gp-p)的情况，在几秒的行程工作期间测量机械手的运动时，位置精度分别达到()sy.+-.()1或()sy.+-.()2%。下一个问题是完成整个6-AXS系统。4.提出了一种基于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.研究了一种基于自主空间信息的机械手控制方法。考虑到位置测量的零稳定性，提出了将机器人工作/作业划分为连续的几个单元，每个单元包括一个嵌套位置，积分器的初始设置将在该位置完成。6.在ASIC中实现上述信号处理的功能是非常有必要的。寻求将微加工工艺制造的加速度传感器与合适的角度传感器相结合也是未来的一个重要问题。