Dynamics and Control of Robotic Manipulation

该项目的目的是增加机器人系统的操作能力，使其能够应用于要求比目前传统类型的工业机器人具有更高功能的各种领域。研究期间研究了以下三个主题：手法中基本操作的控制；辅助远程操作方法；操作概念在运动中的应用。各学科的主要结果如下：1。操作控制采用模糊控制和滑模控制产生指定的抓握力。在某市售滑动机器人的模糊控制实验中，通过适当调整控制器参数，直接推理和间接推理均获得了满意的结果。并证明了一种学习算法对参数值进行调整的有效性。在滑模控制实验中，采用了一种新型的由橡胶人造肌肉驱动的手指机构。实验确定了该机构的动态特性。对照实验结果尚可。还进行了以下实验：柔性手臂的自适应控制；将钉插入孔的混合控制。利用自制的仿真器进行了操作员辅助远程操作实验。结果表明，计算机辅助在最后逼近阶段的有效性：减少了误操作，缩短了任务时间。可操作性是衡量机械臂移动能力的有效指标，该概念成功地解释了人类行走初期身体运动的瞬态特征。目前的研究趋势是统一的方法。

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.