Singularity-Consistent Control of a Kinematically Redundant Manipulator with Seven Degrees-of-Freedom

七自由度运动冗余机械臂的奇异性一致控制

• 批准号: 14350124
• 负责人: NENCHEV Dragomir
• 金额: $ 6.21万
• 依托单位: Musashi Institute of Technology (2003-2004)Hirosaki University (2002)
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2002
• 资助国家: 日本
• 起止时间: 2002 至 2004
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-14350124/
• 关键词: Redundant manipulator; Kinematic singularity; Algorithmic singularity; Singularity consistent; Remote control; グラフィックスシミュレータ; スペースマウス

1.A graphical simulator for the Mitsubishi Heavy Industries PA-10 robot arm was made.2.The Singularity-Consistent(SC) method was applied to a seven degrees-of-freedom arm without link offsets (such as the PA-10 robot arm). Two methods have been verified-one based on the null-space of the column-augmented Jacobian, and one based on the row-augmented Jacobian. It was confirmed that the methods lead to two vector fields-one for the selfmotion, on for the end-effector motion.3.A PA-10 robot arm was purchased and an experimental setup was assebmlied.4.A simulation program based on the MATX programming language was developed. The output of this program was used as control input to the control system of the experimental setup. Smooth performance around kinematic singularities was confirmed.5.A system for remote control using a SpaceMouse as an input device, and a control program in C/C++ and Open Inventor was developed. The results from the SC method were implemented and tested successfully.6.A graphical user interface specifically suited for remote control around singularities was developed (with JAVA programming language) and implemented. A test for remote control of the PA-10 arm located at Hirosaki University in Aomori prefecture from Musashi Institute of Technology in Tokyo was done.7.An alogorithmic singularity was described as an "Internal Obstacle" and a method for feedback control was proposed to deal with it.8.The method developed was compared with other well-known methods such as pseudoinverse and DLS.

1.建立了三菱重工PA-10机器人手臂的图形仿真器。2.将奇异性-一致性（SC）方法应用于无偏置的七自由度手臂（如PA-10机器人手臂）。两种方法已被验证-一个基于零空间的列增广雅可比矩阵，和一个基于行增广雅可比矩阵。实验结果表明，该方法可以得到两个矢量场，一个矢量场用于自运动，一个矢量场用于末端执行器的运动。3.购买了PA-10型机器人手臂，搭建了实验装置。该程序的输出被用作实验装置的控制系统的控制输入。5.以SpaceMouse为输入设备，采用C/C++和Open Inventor开发了遥控系统控制程序。成功地实现了SC方法的结果并进行了测试。6.开发并实现了一个专门适用于远程控制奇点的图形用户界面（使用JAVA编程语言）。对位于日本东京武藏工业大学青森县广崎大学的PA-10机械臂进行了遥控试验。7.将一种算法奇异性描述为“内部障碍”，并提出了一种反馈控制方法来处理它。8.将所提出的方法与伪逆和DLS等著名方法进行了比较。

项目成果

Singularity-Consistent Kinematic Redundancy Resolution for the S-R-S Manipulator

S-R-S 机械臂的奇点一致运动冗余分辨率

• 发表时间: 2004
• 期刊: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS2004
• 作者: Dragomir N.Nenchev;Yuichi Tsumaki;Mitsuzu Takahashi
• 通讯作者: Mitsuzu Takahashi

特異点近傍における歩行動作生成

奇点附近的行走运动生成

• 发表时间: 2005
• 期刊: ロボティクス・メカトロニクス講演会'05講演論文集
• 作者: 亀田 幸季;関口 暁宣;妻木 勇一;Dragomir N.Nenchev
• 通讯作者: Dragomir N.Nenchev

Dragomir N.Nenchev, Yuichi Tsumaki: "The Singularity-Consistent Method Applied to a Four-DOF Redundant Manipulator"SEVENTH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION. ICARCV2002. 851-856 (2002)

Dragomir N.Nenchev、Yuichi Tsumaki：“应用于四自由度冗余机械臂的奇点一致方法”第七届国际控制、自动化、机器人和视觉会议。

JAVAを用いた複雑なテレマニピュレーションのための簡単なユーザーインタフェース

使用 JAVA 实现复杂远程操作的简单用户界面

• 发表时间: 2004
• 期刊: 第22回日本ロボット学会学術講演会予稿集
• 作者: 高橋貢;妻木勇一;Dragomir Nenchev
• 通讯作者: Dragomir Nenchev

D.N.ネンチェフ, 妻木勇一, 佐藤雅樹, 関口暁宣: "特異点適合法による7自由度マニピュレータPA-10の制御"ロボティクス・メカトロニクス講演会2003. 1A1-3F-A4(1)-1A1-3F-A4(2) (2003)

D.N. Nentev、Yuichi Tsumaki、Masaki Sato、Akinori Sekiguchi：“通过奇点适应方法控制 7 自由度机械臂 PA-10” 机器人与机电一体化会议 2003。1A1-3F-A4(1)-1A1-3F-A4 (2 ）（2003）