Module Base Control of Network-structure Robots with Huge Degree-of-freedom

针对由模块组成的大自由度网络结构机器人的控制问题，提出了基于模块的控制方法，并将其应用于平面和空间网络结构机器人。从理论和实验两方面对控制性能进行了讨论。所得结果总结如下。(1)考虑到网络结构模块上的代表点，推导了三种具有多个驱动器和自由度的网络结构模块的运动学正解和逆解公式。提出了一种新的网络结构机器人运动学逆解的迭代收敛算法，该算法在代表点位置不精确的情况下，重复模块的逆解和整个机器人的运动学正解。（2）对基于所提出的代表点逆解的12自由度平面网络结构机器人进行了连续路径控制实验，并对实验结果进行了分析。 关于我们 全面检查。机器人能够生成期望的轨迹，验证了该方法的有效性和实用性。(3)将模块基控制方法推广应用于具有多个输出点或多个转动关节和过驱动器的平面网络结构机器人。他们通过小的迭代计算实现了精确定位。(4)对含有多铰杆件、转动铰、圆柱铰和球铰的空间网络结构模块进行了数值综合。将这两个模块组合起来，合成了一个五自由度的空间网络结构机器人。(5)对所合成的空间网络结构机器人进行了正解运动学分析和奇异位形分析。利用这些结果，建立了一个能够避免奇异位形的机器人样机，并进行了实验验证。结果表明，所提出的基于模块的控制方法对平面或空间网络结构机器人的控制是有效和有用的。少

Aiming to establish an effective method to control network-structure robots which are composed of modules and have with huge degree-of-freedom, Module Base Control was proposed and was applied to planar and spatial network-structure robots. The control performance was theoretically and experimentally discussed. The results obtained are summarized as follows.(1) Formulae of the direct and inverse kinematics of three kinds of network-structure modules with several actuators and DOF were derived by taking account of representative points on the modules. A new method to carry out the inverse kinematics of network-structure robot with iterative convergent calculation repeating the inverse kinematics of the modules for the inaccurate desired positions of the representative points and the direct kinematics of the whole robot was proposed(2) Continuous path control of the planar network-structure robot with 12 DOF based on the proposed inverse kinematics with representative points was experime … More ntally examined. Because the robot could generate the desired trajectories, the proposed method was confirmed effective and useful.(3) The module base control method was extended and applied to planar network-structure robots with several output points or with multiple revolute joints and overactuators. They achieved precision positioning with small iterative calculations.(4) Number syntheses of spatial network-structure modules which have multi-jointed links, revolute joints, cylindrical joints and spherical joints was carried out. By combining the obtained two modules, a spatial network-structure robot with five degrees-of-freedom was synthesized.(5) Direct kinematic analysis and singular configuration analysis of the synthesized spatial network-structure robot were carried out. By using the results, a prototype of the robot which could avoid singular configuration was built and experimentally examined. It was then confirmed that the proposed module base control was effective and useful to control planar or spatial network-structure robots. Less