Control of Flexible Robot Arms by Autonomous Position Sensing.

通过自主位置传感控制灵活的机器人手臂。

• 批准号: 62550169
• 负责人: HAKOMORI Kyojiro
• 金额: $ 1.28万
• 依托单位: TOHOKU 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: 1987
• 资助国家: 日本
• 起止时间: 1987 至 1988
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-62550169/
• 关键词: Flexible robot arms; Autonomous position sensing; Inertial sensors; Acceleration and angular velocity; Laser optical deflection sensors; Vibration suppression control; Compensability; 弾性変形誤差補償制御; 柔構造(フレキシブル、弾性)ロボットアーム; 弾性変形誤差可補償制; 柔構造(弾性・フレキシブル)

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

本研究拟建立一种有效利用自主位置信息的柔性机械臂（FRA）控制方法。为此，围绕系统的开发，进行了基础调查，并对所取得的成果进行了总结：在机器人系统设计的新理念下，设计并构建了三维FRA实验系统ARS/F，命名为FLEBOT-II。提出了一种变增益控制算法，并通过实验证明了该算法的有效性。研制了一种类似惯性导航系统的自主位置传感系统。虽然仍然发现机器人工作范围的零稳定性和信噪比不足以安装在机器人上，但澄清了系统的基本特性，并证实了该方法的可能性。另一种利用激光光学偏转传感器检测位置信息的方法已被研究，显示出很有前景。系统分析了FRA任务可执行性的特点。提出了挠曲误差可补偿性的新概念，给出了挠曲误差可补偿性的条件和判据，并阐明了FRA的可操纵性。在此基础上，提出了补偿控制算法和振动抑制控制与补偿控制相结合的分层控制系统，并通过实验验证了其有效性。这些结果为fr4的控制奠定了基础。采用OPTFOLLOW系统提供的末端器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，具有广阔的研究前景。未来的研究方向将是利用基于模型的方法来改善惯性传感器的性能限制。少

项目成果

Z.H.Jiang 他: Proceedings of the IMACS/IFAC International Symposium on Modelling and Simulation of DPS,Hiroshima. 413-418 (1987)

Z.H.Jiang 等：IMACS/IFAC 国际 DPS 建模与仿真研讨会论文集，广岛 413-418 (1987)。

姜兆 慧 ほか: 第5回日本ロボット学会学貨講演会予稿集. 305-308 (1987)

康赵等人：日本机器人学会第五届学术硬币讲座论文集 305-308 (1987)。

姜兆慧 他: 日本ロボット学会誌. 6. 413-423 (1988)

江朝晖等：日本机器人学会杂志 6. 413-423 (1988)。

Masaru Uchiyama: "Laser Optical Measurement of Robot Structural Deflections." Proceedings of the JSME International Conference on Advanced Mechatronics. (1989)

Masaru Uchiyama：“机器人结构变形的激光光学测量。”

姜兆慧 他: 日本ロボット学会誌. 7. (1989)

江朝辉等：日本机器人学会杂志7。（1989）