STUDY ON NONHOLONOMIC MANIPULATORS

非完整机械臂的研究

• 批准号: 07455110
• 负责人: NAKAMURA Yoshihiko
• 金额: $ 4.93万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1995
• 资助国家: 日本
• 起止时间: 1995 至 1996
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07455110/
• 关键词: Manipulator; Nonholonomic Systems; Nonlinear Control; Underactuated Sytems; Chained Form; Motion Planning; Robot; Free Joints; 運動学的オーバーシュート; 非ホロノミック; 無段変速機

In this project, we designed and prototyped a contorollable n-joint manipulator actuated by only two motors based on a new concept. We also established and verified its nonlineat control thepry for positioning and trajectory control. The idea of controlling a manipulator of an arbitrary number of degrees of freedom with only two motors, had never been developed nor studied in the world before this research. From nonlinear control theory point-of-view, it is a new system that has nonholonomic constraines. In contrast to the fact that nonholonomic systems research had conventionally focused on analysis of various existing mechanisms, we have invented a new mechanism that had never existed, with the knowledge of nonlinear control thepry recently developed for nonholonomic systems. Since hte nonholonomic manipulator locates its two actuators at the base, it is a suitable design of reconfigurable modular robot systems.We also studied whether we can control a manipulator with more than two joints with only one motor. We specifically discussed a planar two-joint manipulator of which 1^<st> joint is actuated and the 2^<nd> is free to rotate. It is a unique feature that such a system is described as a system with nonintegrable dynamic constraines with respect to acceleration. It is often called a nonlinear system with drift, for which a general theory of control has not yet established. In this research, we analyzed the system from the scope of nonlinear dynamics, and showed that a simple periodic control may exhibits chaotic behavior. Them, we discussed stabilization to periodic trajectories and established simultaneous poritioning of the both joints.

在这个项目中，我们基于一个新的概念，设计并制作了一个仅由两个电机驱动的可控n关节机械手。建立并验证了其定位和轨迹控制的非线性控制理论。在此研究之前，世界上从未有人提出过用两个电机控制任意多个自由度的机械臂。从非线性控制理论的观点来看，它是一种具有非完整约束的新系统。与非完整系统研究通常集中在分析各种现有机制的事实相反，我们利用最近为非完整系统开发的非线性控制理论的知识，发明了一种从未存在过的新机制。由于非完整机械手的两个作动器位于基座上，因此是一种适合于可重构模块化机器人系统的设计。我们还研究了是否可以只用一个电机控制两个以上关节的机械手。具体讨论了一种平面双关节机械臂，其中1^<st>关节被驱动，2^<和>关节自由旋转。这是一个独特的特征，这样的系统被描述为一个系统的不可积的动态约束关于加速度。它通常被称为具有漂移的非线性系统，其一般控制理论尚未建立。在本研究中，我们从非线性动力学的范围对系统进行了分析，并表明一个简单的周期控制可能会表现出混沌行为。在此基础上，讨论了周期轨迹的稳定化问题，并建立了两个关节的同步分割。

项目成果

中村仁彦,Ole Jakob Sφrdalen,鄭宇眞: "非ホロノミック・マニピュレータの理論的設計と非線形制御" 日本ロボット学会誌. 13・5. 674-682 (1995)

Hitoshi Nakamura、Ole Jakob Sφrdalen、Yuma Cheng：“非完整机械臂的理论设计和非线性控制”日本机器人学会杂志 13・5（1995 年）。

W.J.Chung,Y.Nakamura,O.J.Sφrdalen: "Experimental reserach of a nonholonomic manipulator" In Proceedings of the Fouth International Symposium on Experimental Robotics. 458-466 (1995)

W.J.Chung、Y.Nakamura、O.J.Sφrdalen：“非完整操纵器的实验研究”，第四届国际实验机器人研讨会论文集，458-466（1995）。

中村,岩本,吉本: "ドリフト項をもつ非ホロノミック機械の制御" 日本ロボット学会誌. 13・6. 830-837 (1995)

Nakamura、Iwamoto、Yoshimoto：“带有漂移项的非完整机器的控制”日本机器人学会杂志 13・6（1995 年）。

W.J.Chung,Y.Nakamura,O.J.Sφrdalen: "Prototyping a nonholonomic manipulator" In Proc.1995 IEEE International Conference on Robotics and Automation. 2029-2036 (1995)

W.J.Chung、Y.Nakamura、O.J.Sφrdalen：“Prototyping a nonholonomic manipulator” In Proc.1995 IEEE International Conference on Robotics and Automation 2029-2036 (1995)。

中村,濃沼,鈴木: "自由関節を持つ平面アームのカオス的挙動と非線形制御 -ドリフトを持つ非ホロノミック機械の制御-" 日本ロボット学会誌. 14・4. 602-611 (1996)

Nakamura、Nonuma、Suzuki：“具有自由关节的平面臂的混沌行为和非线性控制 - 带漂移的非完整机器的控制”日本机器人学会杂志 14・4（1996 年）。