Force Transmission by Interactive Impedance Control in Hyper Redundant Manipulator

超冗余机械臂中交互式阻抗控制的力传递

• 批准号: 07650343
• 负责人: OHNISHI Kouhei
• 金额: $ 1.66万
• 依托单位: KEIO University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 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-07650343/
• 关键词: Hyper Redundancy; Multi-Degree-of-Freedom manipulator; Force Transmission Control; Interactive Impedance; Subsystem Resolution; Expansion and Contraction; Configuration Control; Muscle Model; サブシステム分野; 超冗長性; 干渉インピーダンス制御; 多自由度ロボット; 仮想インピーダンス制御

In this research, a novel control strategy of hyper redundant manipulator is proposed. In particular, a simplified algorithm of the motion controller is considered. In the general industrial robot, it has six degrees-of freedom motion at least. With the progress of control technology, it is possible to realize a high ability motion in such a robot system which is applied to mass production system. In the flexible production system, however, the large number of degrees-of-freedom motion is required to accomplish the complicated task.To address the above issue, this study develops a control strategy for redundant manipulator with a large degree-of-freedom motion. In particular, interactive impedance control is proposed to simplify the controller. The proposed controller consists of several subsystem and the dynamic force propagates along them. This means that the total motion of the manipulator is arbitrary controlled according to the propagated force. In this case, the controller of each subsystem is constructed independently of the total number of degree-of-freedom motion and its characteristics is determined by using some information from the adjoining subsystem. This is one of the remarkable points of our approach and results in a simplification of the total controller. Several simulation and experimental results are shown to confirm the feasibility of our approach.

本文提出了一种超冗余度机械臂的控制策略。特别地，考虑了运动控制器的简化算法。在一般的工业机器人中，它至少有六个自由度的运动。随着控制技术的进步，在这种机器人系统中实现高性能的运动成为可能，并应用于大批量生产系统中。然而，在柔性生产系统中，需要大量的自由度的运动来完成复杂的任务，为了解决上述问题，本研究开发了一种控制策略的冗余度机械手具有大的自由度运动。特别是，交互阻抗控制提出了简化控制器。该控制器由若干个子系统组成，动态力沿着它们传播。这意味着机械手的总运动是根据传播的力任意控制的。在这种情况下，每个子系统的控制器独立于自由度运动的总数来构造，并且其特性通过使用来自相邻子系统的一些信息来确定。这是一个显着的点，我们的方法和结果在简化的总控制器。几个仿真和实验结果证实了我们的方法的可行性。

项目成果

大西 他: "3次元平行移動体のための障害物回避経路の高速計画法" 精密工学会誌. 61. 1545-1550 (1995)

Onishi 等人：“三维平行移动体避障路径的高速规划方法”日本精密工程学会杂志 61. 1545-1550 (1995)。

K.Ohnishi et al.: "A Decentralized Control Strategy of Redundant Manipulator" Proceedings of the 3^<rd> France-Japan Congress. Vol.2. 821-825 (1996)

K.Ohnishi 等人：“冗余操纵器的分散控制策略”第三届法国-日本大会论文集。

大西 他: "作業空間オブザ-バに基づく冗長マニピュレータのロバスト制御" 電気学会論文誌D(産業応用部門誌). 115. 991-998 (1995)

Onishi 等人：“基于工作空间观察器的冗余操纵器的鲁棒控制”日本电气工程师学会汇刊 D（工业应用分部期刊）115. 991-998 (1995)。

K.Ohnishi et al.: "Observer Based Local Torque Optimization in Redundant Manipulator" 22^<nd> International Congress on Industrial Electronics, Control and Instrumentayion. Vol.3. 1915-1921 (1996)

K.Ohnishi 等人：“冗余机械臂中基于观察器的局部扭矩优化”第 22 届国际工业电子、控制和仪器大会。

K.Ohnishi et al.: "Observer-Based Local Torque Optimization in Redundant Manipulator" Transaction of the Japan Society of Mechanical Engineers. Vol.62, No.602. 48-54 (1996)

K.Ohnishi 等人：“冗余机械臂中基于观察者的局部扭矩优化”日本机械工程师学会会刊。