Control of Flexible Robot Arms by Autonomous Position Sensing.

本研究旨在建立一种有效利用自主位置信息的柔性机械臂控制方法。为此，围绕系统的研制，进行了基础性的研究，取得了如下成果：1.在机器人系统设计的新理念下，设计并建造了一个三维FRA实验系统ARS/F，命名为FLEBOT-II。提出了一种变增益控制算法，并通过实验验证了该算法的有效性.研制了一种类似于惯性导航系统的自主式位置传感系统。虽然机器人的工作范围的零点稳定性和S/N比仍然被发现是不够的，以安装在机器人上，系统的基本特性被澄清，并确认该方法的可能性。利用激光光偏转检测位置信息的另一种方法 关于我们 离子传感器已被检查，并显示为promising.3.系统地分析了FRA任务执行性的特点。提出了弯曲误差可补偿的概念，给出了弯曲误差可补偿的条件和判据，阐明了FRA的可操作性。提出了补偿控制算法和将振动抑制控制与补偿控制相结合的递阶控制系统，并通过实验验证了其有效性。这些结果为今后的田间防治奠定了基础.采用OPTFOLLOW算法获得末端执行器的位置信息，代替惯性传感系统提供的自主位置信息，成功实现了重力弹性变形反馈补偿的轨迹控制，并对该领域的研究进行了前景展望。未来的研究将致力于通过应用基于模型的方法来改善惯性传感器的性能限制。少

This research was planned to establish a control method of flexible robot arms (FRA for short) by effective use of the autonomous position information. For this purpose, centering around the system developments, basic investigations have been done and the results obatined are summerized as follows:1. An experimental system ARS/F of a 3-dimensional FRA, named as FLEBOT-II, has been designed and built under the new concepts of robotic system design. A variable gain algorithm is proposed for the vibration suppression control and is proved to be effective by experiments.2. An autonomous position sensing system which behaves like an inertial navigation system has been developped. Although the zero stability and S/N ratio for the working range of robots are still found to be insufficient to be installed on robots, the fundamental characteristics of the system are clarified and the possibility of the method is confirmed. Another method of detecting position information by laser optical deflec … More tion sensor has been examined and is shown to be promizing.3. The characteristics of task performability of FRA were analyzed systematically. A new concept of compensability of the flexural error is proposed and its condition and criteria are presented and the manipulability of FRA is also clarified. Moreover, the compensating control algorithm and a hierarchical control system which unifies the vibration suppression control and the compensating control are proposed and their effectiveness is confirmed experimentally. These results obtained lay the foundation for the control of FRA.4. Instead of autonomous position information from the inertial sensing system, position information of the endeffector by OPTFOLLOW is adopted and the trajectory control by a feedback compensation of elastic deformation due to gravity is realized successfully, which leads to a prospect of this research. Future research will be directed to improve the performance limitation of the inertial sensor by applying model-basec methods. Less