Dynamics and Control of Robotic Manipulation

本项目的目的是提高机器人系统的操作能力，以便它们可以应用于各种领域，这些领域需要比目前常规类型的工业机器人所具有的更高的功能。在研究期间研究了以下三个主题：操作中基本操作的控制；远程操作的辅助方法；操作概念在运动中的应用。各课题的主要研究结果如下：1.操作控制采用模糊控制和滑模控制，以产生指定的抓取力。在模糊控制实验中，通过对控制器参数的适当调整，直接推理和间接推理都取得了令人满意的结果。文中还证明了学习算法调整参数值的有效性。在滑模控制实验中，采用橡胶人工肌肉驱动的新型手指机构。通过实验确定了该机构的动态特性。对照试验的结果是合理的。还进行了以下实验：柔性臂的自适应控制；在孔中插入钉子的混合控制。操作者辅助远程操作实验是在自行研制的模拟器上进行的。在最后接近目标的阶段，计算机辅助的效果显示：误操作和任务时间都减少了。操作和运动的统一方法机械手可操作性的概念被成功地应用于解释人类行走初期身体运动的瞬时特征，这一概念是衡量机械手移动能力的有效指标。目前的重新技术趋势与统一方法有关。

The object of this project is to increase the manipulative capabilities of robotic systems so that they can be applied to various fields demanding higher functions beyond those possessed by industrial robots of present conventional type. The following three subjects were studied during the research period : Control of basic operations in the manipulation ; aiding methods for remote manipulations ; application of manipulation concepts to locomotion. Main results of each subject are the following.1. Control of Manipulation Fuzzy control and sliding mode control were applied to generate a specified grasping force. In the fuzzy control experiment, both direct and indirect reasoning gave satisfactory results by proper tuning of controller parameters in experiments done by a commercially available sliding robot. An effectiveness of a learning algorithm to adjust the parameter values was demonstrated, too. In the sliding mode control experiments a new type of a finger mechanism actuated by rubber artificial muscles used. The dynamic characteristics of the mechanism were determined experimentally. Results of control experiments were fair. The following experiments were, also, carried out : an adaptive control of a flexible arm ; hybrid control of inserting a peg into hole.2. Operator Aiding in Remote Manipulation Experiments were done by using a simulator by ourselves. Effectiveness of aids by computer in the final approaching stage to an object were shown : decrease of both misoperation and task time.3. Unified Approach to Manipulation and Locomotion The concept of manipulability that is an effective measure of the mobility capability of a manipulator was successfully applied to explain the transient characteristics of the body motion in the initial stage of the human walking. The present resech trend related to the unified approach.