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Force control of robot finger by pneumatic servo system and its application to apple selection handling

气动伺服系统机械手指力控制及其在苹果拣选搬运中的应用

基本信息

批准号：
05555077
负责人：
INOOKA Hikaru
金额：
$ 2.11万
依托单位：
Tohoku University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Developmental Scientific Research (B)
财政年份：
1993
资助国家：
日本
起止时间：
1993 至 1994
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-05555077/
关键词：
Man-machine system Grasp by human fingers Robot hand Pneumatic servo Force control Apple selection

项目摘要

To develop robot fingers for selection and handling of ripe and sweet apples, the grasp characteristics of human, manufacturing the finger controlled by pneumatics servo system, and nodestructive discriminating method of ripe and sweet apples are investigated. The results obtained are as follows :1. The human varies a grasp force to compensate for the inertial force of the object, and uses his slip sense to generate a grasping force just greater than the minimum required for grasping the object. Therefore we must realize the ability of fingers which can easily change a grasp force corresponding with the acceleration change.2. By using recently developed pneumatic servo valve, we made pneumatically controlled fingers to grasp some easily bruised material like an apple. From the experiments, for the position control of cylinder, PD control law is used and good results is obtained. In the case of grasp control, PD position control plus integral force control which compensate the error between the reference force and real grasp force gives a good results. It is also found that active force control method which considers the friction force as a disturbance is useful to cancel its effects and then it makes possible to handle apples without bruise.3. The precision of analysis by near infrared ray spectroscopy method for discriminating ripe and sweet apples is improved by using fixed type grating, and it has a good correlation with that by sugar content refractometer, and then it is concluded that near infrared ray spectroscopy method is practical apple selection.

为了研制用于熟甜苹果分选和搬运的机器人手指，研究了人的抓取特性，用气动伺服系统控制手指的制作，以及熟甜苹果的非破坏性判别方法。主要研究结果如下：1.人改变抓握力以补偿物体的惯性力，并使用他的滑觉来产生刚好大于抓握物体所需的最小值的抓握力。因此，我们必须认识到手指的能力，可以很容易地改变一个把握力相应于加速度的变化.利用最新开发的气动伺服阀，我们制作了一个可控制的手指来抓取一些容易碰伤的材料，比如苹果。实验表明，对于液压缸的位置控制，采用PD控制律，取得了良好的效果。在抓取控制中，采用PD位置控制加积分力控制，补偿了参考力与真实的抓取力之间的误差，取得了较好的控制效果。研究还发现，将摩擦力视为干扰的主动力控制方法可以有效地消除摩擦力的影响，从而使苹果的无损伤处理成为可能.采用固定式光栅提高了近红外光谱法鉴别熟甜苹果的分析精度，并与糖度折光仪的分析结果有较好的相关性，说明近红外光谱法是一种实用的苹果鉴别方法。