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

网络结构大自由度机器人的模块库控制

基本信息

批准号：
12650245
负责人：
IWATSUKI Nobuyuki
金额：
$ 2.3万
依托单位：
TOKYO INSTITUTE OF TECHNOLOGY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2000
资助国家：
日本
起止时间：
2000 至 2001
项目状态：
已结题

项目摘要

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

针对由多个模块组成的大自由度网络结构机器人，提出了一种有效的控制方法，并将其应用于平面和空间网络结构机器人。对控制性能进行了理论和实验分析。所得结果总结如下：(1)考虑模块上的代表点，推导了三种多作动器和自由度网络结构模块的正逆运动学公式。针对代表性点期望位置不准确的情况，提出了一种基于迭代收敛计算的网状结构机器人运动学逆解新方法，并对各模块的运动学逆解和整个机器人的正解进行了重复求解。(2)基于所提出的代表性点运动学逆解，对平面12自由度网状结构机器人进行了连续路径控制实验。实验结果表明，该方法是有效的、实用的。(3)将模块基控制方法扩展到具有多个输出点或具有多个转动关节和过致动器的平面网络结构机器人。他们用少量的迭代计算实现了精确定位。(4)对具有多节理连杆、转动节理、圆柱节理和球面节理的空间网络结构模块进行了数量综合。将得到的两个模块结合起来，合成了一个具有五自由度的空间网络结构机器人。(5)对合成的空间网络结构机器人进行了直接运动学分析和奇异位形分析。在此基础上，建立了能避免奇异构型的机器人原型，并进行了实验验证。验证了所提出的模块基控制方法对平面或空间网络结构机器人的控制是有效的。少