Motion Planning and Control of Nonholonomic Mechanical Systems

非完整机械系统的运动规划与控制

• 批准号: 04452153
• 负责人: NAKAMURA Yoshihiko
• 金额: $ 3.01万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (B)
• 财政年份: 1992
• 资助国家: 日本
• 起止时间: 1992 至 1993
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-04452153/
• 关键词: Nonholonomic Constraints; Nonlinear Control; Motion Planning; Space Structure; Space Robot; Robotics; Nonintegrable System; Momentum Conservation; 非ホロノミックシステム; 非可積分拘束条件; 水中ロボット; 剛体多リンク系

In this project, we studied on Motion Planning and Control Nonholonomic Mechanical Systems. First, we clarified the common mathematical structure of various robotic nonholonomic systems. Then, we established methodologies for utilizing nonholonomy of various robotic systems. The main results of this project are summarized in the following five items :(1) An efficient computational scheme for the dynamics of space multibody systems was established. Nonintegrability of space underactuated mechanical systems was investigated.(2) We proposed to build a space multibody structure by connecting bodies with free-joints. A stabilization control of such space multibody structure was established. Such a system is free from elastically induced structural vibration. Reconfigurability of the structure is another advantage. It will be efficiently used for example as a space storage system.(3) Various problems of robotic systems subject to nonholonomic kinematic constraints were discussed. Tracking control of underwater robotic vehicles, nonholonomic redundancy of a free-flying space robot, approximation of infeasible motion of a free-flying space robot, nonholonomic drift motion of elastic space sturctures were the issues in this category.(4) Energy-saving control of space robot systems were investigated. It was proposed to utilize the redundancy of control-momentum-gyro to release/store kinetic energy obtained through regeneration.(5) A nonholonomic manipulator was proposed. This is a revolutionary robotic manipulator that control its N joints with only two motors. Nonlinear control made it possible. Controllability and chained-form transformation were established. Freedback/freedforward control is currently being studied and mechanical design is undergoing.

在这个项目中，我们研究了运动计划和控制非体力学机械系统。首先，我们阐明了各种机器人非单学系统的常见数学结构。然后，我们建立了利用各种机器人系统的非遗传学的方法。该项目的主要结果总结在以下五个项目中：（1）建立了空间多体系统动力学的有效计算方案。 （2）我们建议通过将物体与自由接头连接起来来构建空间多体结构。建立了这种空间多体结构的稳定控制。这样的系统没有弹性诱导的结构振动。结构的重构性是另一个优势。它将有效地用作空间存储系统。（3）讨论了受到非体力学运动约束的机器人系统的各种问题。跟踪水下机器人车辆的控制，自由飞行的太空机器人的非道理冗余，自由飞行太空机器人的不可行运动的近似，弹性太空施加的非单位漂移运动是该类别中的问题。（4）研究了节省太空机器人系统的能量控制。提议利用对控制摩肌 - 埃戈罗的冗余性来释放/存储通过再生获得的动能。（5）提出了一种非道理操纵器。这是一个革命性的机器人操纵器，仅控制两个电动机的N关节。非线性控制使它成为可能。建立了可控性和链式形式的转化。目前正在研究Freedback/Freedforward控制，并且正在进行机械设计。

项目成果

中村 仁彦: "自由関節で連結された宇宙構造物の形状制御" 日本ロボット学会誌. 11. 883-891 (1993)

Hitoshi Nakamura：“通过自由关节连接的空间结构的形状控制”日本机器人学会杂志 11. 883-891 (1993)。

Yoshihiko Nakamura: "Exploiting Nonholonomic Redundancy of Free-Flying Space Robots" IEEE Trans.on Robotics and Automation. 9. 499-506 (1993)

Yoshihiko Nakamura：“利用自由飞行空间机器人的非完整冗余”IEEE Trans.on 机器人与自动化。

Y.Nakamura: "Exploiting nonholonomic redundancy of free-flying space robots" IEEE Trans.Robotics and Automation. 9. 499-506 (1993)

Y.Nakamura：“利用自由飞行空间机器人的非完整冗余”IEEE Trans.Robotics and Automation。

Y.Nakamura and S.Ito: "Lowering energy consumption of space robot systems through kinetic energy conservation, Proc." 1993 IEEE International Conference on Robotics and Automation Atlanta, GA. 1019-1026 (1993)

Y.Nakamura 和 S.Ito：“通过动能守恒降低空间机器人系统的能耗，Proc。”

Ole J.Sordalen: "Design of a Nonholonomic Manipulator" Proc.1994 IEEE International Conference on Robotics and Automation. (予定). (1994)

Ole J.Sordalen：“非完整机械臂的设计”Proc.1994 IEEE 国际机器人与自动化会议（计划）（1994 年）。