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Motion Control Strategy by A unified Position and Force Control

统一位置和力控制的运动控制策略

基本信息

批准号：
05650284
负责人：
OHNISHI Kouhei
金额：
$ 1.47万
依托单位：
Keio University
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1993
资助国家：
日本
起止时间：
1993 至 1994
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-05650284/
关键词：
Force control Position Control A Unified Motion Touching Motion Pushing Motion Vibration Control Robot System Two-mass System

项目摘要

Recently, industrial robot has been widely utilized for many kinds of motion system. At the same time, the motion control strategies such as position and force control has been investigated to increase control performance of the system. These motion control strategies are very powerful. However each controller is constructed independently and is not utilized for a unified motion of the position and the force control. Furthermore each controller is applied to different motion direction. In recent industrial applications, the development of the unified control of position and force control is strongly required to implement the unified motion such as touching and pushing motion which includes the position and the force control at the same motion direction. To address the above issue, we develop a basic control strategy of the unified motion.In this research, the following items are considered.A Unified Motion Control Strategy Based on Impedance ControllerA Vibration Control by Position and Reaction Torque FeedbackThe first item relates to the unified motion of position and force control of multidegrees-of-freedom manipulator. In particular, we introduce the touching and pushing motion as an important application of the unified motion.In the second item, we introduce two-mass resonant system. In such a system, the reaction torque between motor and load is fed back to maintain the stable motion response. Here semi-closed loop is also introduced to obtained the desired position response. In other words, the desired position response is achieved by the position and the torque (force) feedback which increases the stability of the system. From this point of view, the proposed vibration control is one approach of the unified motion of position and force control.The validity of the proposed approach is confirmed through several experimental results.

近年来，工业机器人已广泛应用于各种运动系统。同时，为提高系统的控制性能，研究了位置和力控制等运动控制策略。这些运动控制策略非常强大。然而，每个控制器都是独立构造的，并且不用于位置和力控制的统一运动。此外，每个控制器适用于不同的运动方向。在近年来的工业应用中，迫切需要发展位置控制和力控制的统一控制，以实现触摸、推动等统一运动，其中包括同一运动方向的位置控制和力控制。针对上述问题，本文提出了一种统一运动的基本控制策略，主要研究了以下几个方面：基于阻抗控制器的统一运动控制策略位置和反作用力矩反馈的振动控制第一个方面涉及多自由度机械臂的位置和力的统一运动控制。特别地，我们介绍了作为统一运动的一个重要应用的碰推运动。在这样的系统中，电机和负载之间的反作用转矩被反馈以维持稳定的运动响应。这里还引入了半闭环来获得期望的位置响应。换句话说，期望的位置响应通过位置和扭矩（力）反馈来实现，这增加了系统的稳定性。从这一点来看，所提出的振动控制方法是一种位置和力统一运动控制的方法，并通过实验验证了该方法的有效性。