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.

本课题主要研究非完整机械系统的运动规划与控制。首先，我们阐明了各种机器人非完整系统的一般数学结构。然后，我们建立了利用各种机器人系统的非完整性的方法。主要成果有以下五个方面：(1)建立了空间多体系统动力学的高效计算方案。研究了空间欠驱动机械系统的不可积性。(2)提出用自由关节连接体来构建空间多体结构。建立了该空间多体结构的稳定控制方法。这样的系统不受弹性结构振动的影响。结构的可重构性是另一个优点。它将被有效地利用，例如作为空间存储系统。(3)讨论了非完整运动约束下机器人系统的各种问题。水下机器人的跟踪控制、自由飞行空间机器人的非完整冗余、自由飞行空间机器人不可行运动的逼近、弹性空间结构的非完整漂移运动等都是这一类问题的研究内容。(4)研究了空间机器人系统的节能控制。提出利用控制动量陀螺的冗余度来释放/存储通过再生获得的动能。(5)提出了一种非完整机械手。这是一个革命性的机器人操纵器，只用两个马达就能控制它的N个关节。非线性控制使之成为可能。建立了可控性和链式变换。目前正在研究回退/向前控制，并正在进行机械设计。

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）。