RESEARCH ON REACTIONLESS MANIPULATOR

无反应机械臂的研究

• 批准号: 07805027
• 负责人: NENCHEV Dragomir
• 金额: $ 1.47万
• 依托单位: NIIGATA UNIVERSITY (1997)Tohoku University (1995-1996)
• 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 1997
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07805027/
• 关键词: Reactionless Manipulator; Flexible Beam; Reactionless Path; Vibration Suppression Control; Dual-Arm Manipulator; カップリングマップ

We developed a general method for reaction compensation via inertial coupling. This method we called "reaction null space" method. In our early work we focused on moving base systems, such as free-flying space robots and long-reach manipulators or flexible base manipulators. We have shown that via the reaction null space, the dynamics of the manipulator are decoupled from the dynamics of the base. Using the notation, we can analyze the system, for example, to obtain the so-called "reactionless paths" in the workspace of the manipulator. Any motion along these paths will not excite the base dynamics.Also, the reaction null space is useful for design purposes. This is clear from the fact that the reaction null space may exist with different types of design. In our latest work we extend the scope of the reaction null space method to cover the whole class of underactuated manipulators. In addition to moving base robots, this class includes also free-and flexible-joint robots and flexible-l … More ink robots.We designed a planar experimental system of a flexible-base manipulator comprising a flexible base with an elastic cantilever beam. Initially, a small 2R rigid link manipulator was mounted on the tip of the base. A force/torque sensor with a special design was mounted on the base of the rigid link manipulator to measure reactions in the plane. Control feedback from elastic base deflection was obtained through a strain gauge. With this design we could obtain useful experimental data for the one-arm case, which confirmed our expectation regarding reactionless motion. Later, we attached a second rigid-link manipulator to the system. With this experimental setup we could perform noncontact motion experiments, as follows.First, feasibility of reactionless path tracking was confirmed both under open loop and closed-loop control.In either case, the disturbance of the base was ignorable. This situation didn't change when the acceleration and the speed along the reactionless path were changed. This is well in agreement with theory. We note that the reactionless paths do exist also for a dual-arm manipulator holding an object. This was verified experimentally. Second, we developed a three-phase path planning method for a single arm. The experimental performance confirmed our expectations. We compared the results with the well-known method of Disturbance Map. Finally, we implemented vibration suppression control by active damping. We have shown that vibration suppression is decoupled from the reactionless path motion. This means that feedback gains of the two control subtasks can be designed independently. It is possible to suppress vibrations while moving along a reactionless path. We have also confirmed the possibility of vibration suppression with a dual-arm manipulator holding an object. Less

我们开发了一种通用的方法，通过惯性耦合的反应补偿。我们称这种方法为“反应零空间”方法。在我们的早期工作中，我们专注于移动基础系统，如自由飞行的空间机器人和长距离机械手或柔性基础机械手。我们已经表明，通过反应零空间，机械手的动力学解耦的基础的动力学。使用该符号，我们可以分析系统，例如，以获得所谓的“无反应路径”在工作空间的机械手。沿着这些路径的任何沿着运动都不会激发基本动力学，而且，反应零空间对于设计目的是有用的。这一点从反应零空间可能存在于不同类型的设计中这一事实中可以清楚地看出。在我们的最新工作中，我们扩大了反应零空间方法的范围，以涵盖整个类的欠驱动机械手。除了移动基础机器人，这类机器人还包括自由和柔性关节机器人和柔性机器人。 ...更多信息 设计了一种柔性基础机械臂的平面实验系统，该系统由柔性基础和弹性悬臂梁组成。最初，一个小型的2 R刚性连杆机械手安装在基座的尖端。在刚性连杆机械手的基础上安装了一个特殊设计的力/力矩传感器，用于测量平面内的反力。通过应变片获得弹性基座挠度的控制反馈。通过这种设计，我们可以获得有用的实验数据的单臂的情况下，这证实了我们的期望，关于无反应的运动。之后，我们将第二个刚性连杆机械手连接到系统上。利用该实验装置，我们可以进行如下的非接触运动实验：首先，在开环和闭环控制下，证实了无反应路径跟踪的可行性，在任何一种情况下，基座的扰动都是可接受的。当沿无反作用路径的加速度和速度沿着改变时，这种情况没有改变。这与理论完全一致。我们注意到，无反应路径也存在双臂机械手持有的对象。这一点在实验上得到了验证。其次，我们发展了一个单手臂的三阶段路径规划方法，实验结果证实了我们的预期。并将所得结果与著名的扰动图方法进行了比较。最后，利用主动阻尼实现了振动抑制控制。我们已经表明，振动抑制是解耦的无反应路径运动。这意味着两个控制子任务的反馈增益可以独立设计。在无反作用力的路径上沿着移动的同时抑制振动是可能的。我们还确认了用双臂机械手夹持物体抑制振动的可能性。少

项目成果

D.N.Nenchev, K.Yoshida and M.Uchiyama: "Reaction Null Space Control of Free-Floating and Elastic Base Robots" International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS'97), Tokyo, Japan. 119-124 (1997)

D.N.Nenchev、K.Yoshida 和 M.Uchiyama：“自由浮动和弹性基础机器人的反应零空间控制”国际人工智能、机器人和空间自动化研讨会 (i-SAIRAS97)，日本东京。

K.Yoshida、他: "A General Formulation of Under-Actuated Manipulator Systems" Preprints of the 8th Int.Symp.onRobotics Research. 72-79 (1997)

K. Yoshida 等人：“欠驱动机械手系统的通用公式”第 8 届 Int.Symp.onRobotics Research 预印本 72-79 (1997)。

K.Yoshida、他: "A General Formulation of Under-Actuated Manipulator Systems" Preprints of the 8th Int.Symp.on Robotics Research. 72-79 (1997)

K. Yoshida 等人：“欠驱动机械手系统的通用公式”第 8 届 Int.Symp.on 机器人研究预印本 72-79 (1997)。

K.Yoshida, D.N.Nenchev, P.Vichitkulsawat, H.Kobayashi, and M.Uchiyama: "Experiments on the point-to-point operations of a flexible structure mounted manipulator system" Advanced Robotics. Vol.11, No.4. 397-411 (1997)

K.Yoshida、D.N.Nenchev、P.Vichitkulsawat、H.Kobayashi 和 M.Uchiyama：“柔性结构安装机械手系统的点对点操作实验”高级机器人学。

D.ネンチェフ,他: "REACTION NULL-SPACE BASED TELEOPERATION" 日本機械学会ロボティクス・メカトロニクス講演会'95講演論文集. 1003-1006 (1995)

D. Nentiev 等人：“基于反应零空间的远程操作”日本机械工程师学会机器人和机电一体化会议 95 会议记录 1003-1006 (1995)。