Control of Advanced Mechatronics Systems by Means of Nonlinear Circuit Theory

在1996年已经报道，不仅机器人手臂和手的运动，而且大型空间结构和机械系统的运动都是通过非线性位置相关电路来表示的。今年的报告，EL（欧拉-拉格朗日）形式主义的基础上的虚功原理意味着存在一个非线性的位置依赖电路这样的机械系统。特别是，详细的电路理论表达的几何端点约束下的机器人动力学进行了研究，并在端点接触的阻抗控制理论已经开发。它已被进一步表明，摩擦力，包括静态和库仑摩擦力与重力一起，可以同时通过引入回归摩擦和重力项进行补偿。这意味着在不使用任何力-扭矩传感器的情况下实现仅惯性（无摩擦/无重力）机器人。这一理论结果已由 ...更多信息 通过使用具有3个自由度的DD（直接驱动）机器人进行实验。用于端点阻抗控制的控制器的设计现在已经在这样的仅惯性机器人的平台上进行。更具体地说，阻抗控制的一个自由度系统的基本过程被认为是在工具的质量是未知的情况下，再生力相对于位移的非线性特性也是未知的。它已被证明，可以引入一个新的框架，概括阻抗匹配，以科普在这种情况下所涉及的非线性。广义阻抗匹配通过两个无源系统的负反馈连接来定义，一个表示估计质量的动态，另一个表示力误差控制的动态。前一种动力学对应于电路中的内部阻抗。通过考虑关节坐标和任务坐标之间的雅可比矩阵的作用，可以将该观察结果推广到多自由度机器人任务的情况。少

It was already reported in the year of 1996 that motions of only robotic arms and hands but also large-scaled space structures and mechanical systems are expressed by means of nonlinear position-dependent circuits. This year reports that the EL (Euler-Lagrange) formalism based on the principle of virtual work implies the existence of a nonlinear position-dependent circuit for such a mechanical system. In particular, details of a circuit-theoretic expression of robot dynamics under geometrical endpoint constraint have been investigated and a theory of impedance control at the endpoint contact has been developed. It has been shown further that frictional forces including static and Coulomb frictions together with gravity forces can be simultaneously compensated by introducing regressors for both frictional and gravity terms. This means the realization of inertia-only (on Friction/Gravity-free) robots without using any force-torque sensors. This theoretical results has been ascertained by … More an experiment by using a DD (Direct-Drive) robot with 3 degrees of freedom. Design of controllers for endpoint impedance control has now been carried out on a platform of such an inertia-only robot. More specifically, an elementary process of impedance control for an one-degree-of-freedom system is considered under the circumstances that the tool mass is unknown and the nonlinear characteristics of reproducing forces with respect to displacements are also unknown. It has been shown that a new framework of generalization of impedance matching can be introduced to cope with nonlinearities involved in this situation. The generalized impedance matching is defined by means of a negative feedback connection on of two passive systems, one expresses the dynamics of estimating the mass and the other does the dynamics of force error control. The former dynamics corresponds to an internal impedance in case of electric circuits. Generalization of this observation for the elementary process to the case of task for multi-degrees of freedom robots can be carried out by considering a role of the Jacobian matrix between the joint coordinates and the task coordinates. Less