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A Study on Generation of Passive Softness at Load-end by the Soft-Actuation with Stepping Motor

步进电机软驱动产生负载端被动软度的研究

基本信息

批准号：
14550253
负责人：
HIRAOKA Nobuaki
金额：
$ 0.96万
依托单位：
Takamatsu National College 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：
2002
资助国家：
日本
起止时间：
2002 至 2004
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-14550253/
关键词：
Motion control Stepping motor Passive softness Soft-Actuation Actuator Manipulator DD駆動

项目摘要

Softness at load ends has been expected to introduce soft and safe motion on robots and/or manipulators. In this study, a driving scheme of stepping motor, so called "soft actuation", was proposed and examined experimentally.(1) Soft actuationStepping motors have inherent passive softness against external force, since they have no mechanical contact except for shaft bearings. When the current through the stepping motor is appropriately lowered, the threshold for miss-stepping can be decreased to generate passive softness. For example, it was demonstrated experimentally that a robot arm driven under the soft actuation regime can smoothly catch a free falling object.(2) Torque reference control of stepping motorUnder the soft actuation regime, the torque reference control of stepping motor is available, if the torque angle is regulated appropriately. The torque characteristics which show acceptable linearity were presented experimentally. In this scheme, the action of stepping motor can expressed as the torque in the equation of motion, and it means that lots of well known motion control methods can be applied on the robotic systems driven with stepping motors.(3) Experimental results obtained from serial link manipulators driven with soft actuation1. Reasonable position/velocity controllability under torque reference regime was achieved.2. An object picking and piling task without height information was performed successfully.3. An evading motion of obstacle was demonstrated with groping strategy.4. A peg-in-hole experiment without direct force and/or compliance control was presented.It is generally not easy to achieve controllability and softness in motion simultaneously, but the proposed scheme can successfully provide both acceptable position/velocity controllability and passive softness against collision or restriction of load ends of robotic manipulators.

负载端的柔软度预计会在机器人和/或操纵器上引入柔软和安全的运动。在本研究中，提出一种称为“软驱动”的步进马达驱动方案，并进行实验验证。(1)软驱动步进电机对外力具有固有的被动柔软性，因为它们除了轴承外没有机械接触。当通过步进电机的电流被适当地降低时，用于失步的阈值可以被降低以生成被动软度。例如，实验证明，在软驱动机制下驱动的机器人手臂可以顺利地接住自由落体。(2)步进电机的转矩参考控制在软驱动方式下，只要适当调节转矩角，就可以实现步进电机的转矩参考控制。实验结果表明，该系统的转矩特性具有良好的线性度。在该方案中，步进电机的作用可以用运动方程中的转矩来表示，这意味着许多已知的运动控制方法都可以应用到由步进电机驱动的机器人系统中。(3)从软驱动的串联连杆机械手获得的实验结果1。给出了在转矩参考状态下合理的位置/速度可控性.成功地完成了一个没有高度信息的物体拾取和堆放任务.采用摸索策略演示了机器人的避障动作.提出了一种无直接力控制和柔顺控制的轴孔实验方案，该方案能同时实现机器人的位置/速度可控性和运动柔性，并能有效地防止机器人负载端的碰撞或约束.