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Control Method of Robot Actuated Antagonisticaly

对抗驱动机器人的控制方法

基本信息

批准号：
61460114
负责人：
YAMASHITA Tadashi
金额：
$ 2.37万
依托单位：
Kyushu Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (B)
财政年份：
1986
资助国家：
日本
起止时间：
1986 至 1987
项目状态：
已结题

项目摘要

The function of dexterious manipulations and locomotion by human hands and/or legs is realized by fine controls of muscular-skeleton systems that are actuated antagonistically. This project was motivated to introduce this principle into robotic mechanisms. New results have been obtained in four sub-projects as follows.1. Stuby of bipedal locomotion systems. Dynamics of human walking in the starting and stopping phases were simulated by a simple model consisting of a rigid body and two massless legs. The results have shown the characteristics similar to the experimental findings. The idea of the zero-moment point was extended to a joint moment to simulate a pathological gait or robotic walking. Various steaby characteristics were calculated.2. Adaiptive control of robotic systems. Link systems of a low rigidity resulted often from light structural design produce serious problems in a rapid dynamic controls. Effectiveness of an adaptive control was shown in the position control of an elastic inverted pendulum and a flexible robotic arm.3. Study of manipulation. Handling of a rigid body by two fingers or two prismatic robots was studied: grasping a body; translation of a grasped body. In a theoretical formulation the screw coordinate systems were effectively introduced. in an experimental study an antagonistic robotic system was used.4. Supporting system for teleoperation. Human operator in a man-machine system of a teleoperation needs various supports supplied by computers. Xomputer simulations were carried to study a feasibility of a supporting system.

人的手和/或腿的灵巧操纵和运动的功能是通过对抗性地致动的肌肉骨骼系统的精细控制来实现的。该项目的动机是将这一原理引入机器人机构。在以下四个子项目中取得了新的成果.两足运动系统的研究。通过一个简单的刚体和两条无质量腿模型，模拟了人体在起步和停止阶段的行走动力学。结果显示了与实验结果相似的特征。将零力矩点的概念扩展到关节力矩，以模拟病态步态或机器人行走。计算了各种稳态特性.机器人系统的自适应控制。由于结构设计轻，连杆系统的刚度往往较低，这给快速动态控制带来了严重的问题。在弹性倒立摆和柔性机械臂的位置控制中，验证了自适应控制的有效性.研究操纵。研究了用两个手指或两个棱柱形机器人处理刚体的问题：抓取物体;抓取物体的平移。在理论公式中，螺旋坐标系被有效地引入。在实验研究中，使用了对抗机器人系统。遥操作支撑系统。遥操作人机系统中的操作者需要计算机提供各种支持。并进行了计算机模拟，研究了支撑系统的可行性。