权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

A modified impedance control design for tele-operational coordinated multiple robot manipulators

远程操作协调多机器人机械臂的改进阻抗控制设计

基本信息

批准号：
17560216
负责人：
OGATA Kazuya
金额：
$ 2.18万
依托单位：
Daido Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2005
资助国家：
日本
起止时间：
2005 至 2006
项目状态：
已结题

项目摘要

In this study, a design of a stable remote robot control system is proposed, where remote robot manipulators can grasp and move an object. Because a joystick used for master system has only 3 degree of freedom of motion and 2 degree of freedom of force feedback, the slave control system must have autonomous force control or impedance control that prevents slave manipulator and the object from being damaged caused by unavoidable contact. In proposed system, the slave controller can switch motion control to force control and impedance control easily. By performing several working experiments, the usefulness of the control system is investigated.Experiment I : coordinated multiple robot manipulators raise and convey an object. When right and left manipulators move inconsistently, an object can not be balanced and not be followed to a desired trajectory. Using bilateral control system, operator can feel the contact force of right and left slave manipulators through force feedback of joysticks and readjust the operational signal. Then slave system can keep balance of the object.Experiment II : coordinated multiple robot manipulators grasp an elastic object. When both manipulators grasp an elastic object contact forces and moments for each axial direction occur complicatedly. However, an operator understood insufficient contact feelings because the joystick only presents two degree of freedom of force and moment.Experiment III : coordinated multiple robot manipulators grasp, lift and move a rigid object. If the orientation of tools of slave manipulators is constrained, excessive contact force and moment may occur. Therefore slave controller modifies the compliance characteristic of the orientation. Then operator can manipulate a rigid object without excessive contact force and moment.

在本研究中，提出了一种稳定的远程机器人控制系统的设计，其中远程机器人机械手可以抓取和移动物体。由于主系统使用的操纵杆只有3个运动自由度和2个力反馈自由度，因此从控制系统必须具有自主力控制或阻抗控制，以防止从机械臂和物体因不可避免的接触而损坏。在所提出的系统中，从控制器可以轻松地将运动控制切换为力控制和阻抗控制。通过进行多次工作实验，研究了控制系统的实用性。实验一：协调多个机器人操纵器举起并传送物体。当左右机械手移动不一致时，物体就无法平衡并且无法遵循所需的轨迹。采用双边控制系统，操作者可以通过操纵杆的力反馈感受到左右从机械手的接触力，并重新调整操作信号。然后从系统就可以保持物体的平衡。实验二：协调多个机器人机械手抓取弹性物体。当两个机械手抓取弹性物体时，每个轴向方向的接触力和力矩会复杂地发生。然而，由于操纵杆仅呈现力和力矩两个自由度，操作者理解的接触感觉不够。实验三：协调多个机器人机械手抓取、举起和移动刚性物体。如果从机械手的工具方向受到限制，可能会出现过大的接触力和力矩。因此，从控制器修改方向的顺从特性。然后操作者可以操纵刚性物体而无需过多的接触力和力矩。