Study on Cooperative Control of Flexible Dual Arm Robot

柔性双臂机器人协同控制研究

• 批准号: 07455416
• 负责人: UCHIYAMA Masaru
• 金额: $ 1.66万
• 依托单位: Tohoku University
• 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 1997
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07455416/
• 关键词: flexible robot; vibration control; dual-arm cooperative control; force control; controllability; inverse kinematics and dynamics; constrained mechanical system; lumped-parameter model; 振動抑制制御; 双腕; 協調制御

In this project, aiming at application of flexible dual-arm robots to practical tasks, we researched on the force and cooperative control of this type of robots. Specifically, we researched on the modeling of the task process such as holding, carrying and assembling objects, and designed a force and cooperative control system based on the modeling. The results of the project are summarized as follows :1.Regarding the modeling, we proposed a simple but effective lumped-parameter model for the flexible arm and evaluated its precision and applicability. Based on the model, we also analyzed the controllability of the flexible arm that no one has researched and found different uncontrollable configurations that are interesting and importnat.2.Regarding the force control, we formulated the system as a constrained mechanical system, based on which we made analysis and designed a controller. We verified its effectiveness by experiments. We also discussed the interference between force control and vibration control and clarified its geometry.3.Regarding the cooperative control, as in the case of force control, we modeled the system as a constrained mechanical system, based on which we designed a cooperative control system. We applied the control system to a three-dimensional flexible dual-arm robot and implemented a task of holding and carrying an object. The experiment should be one of the world-first.4.Regarding the inverse kinematics and dynamics of flexible arms, we formulated the problem as that of differential-algebraic equations and proposed a new solution to it that is based on learning control. We analyzed the convergence of the solution and derived a condition for it. We clarified its effectiveness by experiment and simulation.

本课题针对柔性双臂机器人在实际工作中的应用，对柔性双臂机器人的力和协调控制进行了研究。具体而言，研究了机器人持物、搬运、装配等任务过程的建模，并在此基础上设计了一个力协同控制系统。主要研究成果如下：1.在建模方面，提出了一种简单有效的柔性臂集中参数模型，并对其精度和适用性进行了评价。在此基础上，对柔性臂的可控性进行了分析，发现了一些有趣的、重要的不可控结构。2.在力控制方面，将系统描述为一个约束机械系统，并在此基础上进行了分析和控制器的设计。通过实验验证了该方法的有效性。讨论了力控制与振动控制之间的干扰，并阐明了其几何关系。3.在协同控制方面，与力控制一样，将系统建模为一个受约束的机械系统，并在此基础上设计了一个协同控制系统。我们将该控制系统应用于一个三维柔性双臂机器人，并实现了一个任务，持有和携带的对象。4.针对柔性臂的逆运动学和动力学问题，将其转化为微分代数方程问题，提出了一种基于学习控制的求解方法。分析了解的收敛性，给出了收敛的条件，并通过实验和仿真验证了其有效性。

项目成果

Atsushi Konno: "Modeling of a Flexible Manipulator Dynamics Besed upon Holzer's Model" Proc.of the 1996 IEEE/RSJ Int.Conf.on Intellijent Robots and Systems. 223-229 (1996)

Atsushi Konno：“基于 Holzer 模型的灵活机械臂动力学建模”Proc.of 1996 IEEE/RSJ Int.Conf.on Intellijent Robots and Systems。

Jin-Soo Kim: "Vibration Suppression Control of Constrained Spatial Flexible Manipulators" Proc.of 1997 IEEE Int.Conf.on Roboticsand Automation. 2831-2837 (1997)

Jin-Soo Kim：“约束空间柔性机械手的振动抑制控制”Proc.of 1997 IEEE Int.Conf.on Roboticsand Automation。

Jin-Soo Kim, Kuniaki Suzuki, Mitsuhiro Yamano and Masaru Uchiyama: "Vibration Suppression Control of Constrained Spatial Flexible Manipulators" Proc.of the 1997 IEEE Int.Conf.on Robotics and Automation, Albuquerque, New Mexico, USA. 2831-2837 (1997)

Jin-Soo Kim、Kuniaki Suzuki、Mitsuhiro Yamano 和 Masaru Uchiyama：“约束空间柔性机械手的振动抑制控制”Proc.of the 1997 IEEE Int.Conf.on Robotics and Automation，美国新墨西哥州阿尔伯克基。

Y.Q.Dai, A.A.Loukianov, M.Uchiyama: "SPATIAL FLEXIBLE MANIPULATOR TRAJECTORY CONTROL THROUGH SOLVING THE INVERSE KINEMATICS" Preprints of the Fifth IFAC Symp.on Robot Control, Nantes, France. 273-279 (1997)

Y.Q.Dai、A.A.Loukianov、M.Uchiyama：“通过求解逆运动学进行空间柔性机械手轨迹控制”第五届 IFAC Symp.on 机器人控制预印本，法国南特。

Mitsuhiro Yamano, Jin-Soo Kim and Masaru Uchiyama: "Experiments on Cooperative Control of Two Flexible Manipulators Working in 3D Space" Asia-Pacific Vibration Conference '97, Proc., Kyongju, Korea. 274-279 (1997)

Mitsuhiro Yamano、Jin-Soo Kim 和 Masaru Uchiyama：“在 3D 空间中工作的两个柔性机械臂的协作控制实验”亚太振动会议 97，Proc.，韩国庆州。