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Analysis and Control of High Compliance Systems with Coulomb Friction

库仑摩擦高柔顺系统的分析与控制

基本信息

批准号：
15360222
负责人：
AOSHIMA Nobuharu
金额：
$ 6.85万
依托单位：
University of Tsukuba
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2005
项目状态：
已结题

项目摘要

First, we show the effects of slight Coulomb friction on a simply supported beam under compressive force, which is a high compliance system. The governing equation, which is a nonlinear partial differential equation, is deduced. By the method of multiple scales, the system is analyzed. As a result it is clarified that very low stiffness and Coulomb friction produces infinite number of stable equilibrium states. The phenomena are identified by bifurcation theory. And the validity of the theoretical result is experimentally confirmed. The high- frequency excitation destabilizes these stable equilibrium points and stabilizes the buckled beam to the straight position. Also, experimental identification method for Coulomb friction is proposed. Furthermore, we propose a motion control of an underactuated manipulator, which is high compliance system. The high frequency excitation produces variety of stable equilibrium states. The change of the excitation direction perturbs the bifurcation phenomena and carries out the position control of the under actuated link without state feedback control. Experimental apparatus of the underactuated manipulator is constructed. The validity of the proposed control method is experimentally confirmed. Furthermore, we consider the case when the underactuated link is flexible. The equation of motion is partial differential equation. Under high-frequency excitation of the active link, the dynamics of the underactuated link is analyzed by introducing multiple time scales. Also, in this case, experiments are conducted and the motion control of flexible underactuated manipulator is experimentally confirmed. Finally, we consider the application of the high compliance system for grip. The grip does not give impact objects because the joint of the grip is freely rotated. This system uses high frequency excitation and carries out motion control.

首先，我们展示了轻微的库仑摩擦力的压缩力下的简支梁，这是一个高柔度系统的影响。推导了控制方程，该方程是一个非线性偏微分方程。采用多尺度法对系统进行了分析。结果表明，很低的刚度和库仑摩擦产生无限多的稳定平衡态。用分岔理论对这一现象进行了分析。并通过实验验证了理论结果的正确性。高频激励使这些稳定的平衡点失稳，并使屈曲梁稳定到直线位置。提出了库仑摩擦的实验识别方法。此外，我们提出了一种欠驱动机械臂的运动控制，这是高顺应性系统。高频激励产生多种稳定的平衡态。激励方向的改变扰动了分叉现象，在没有状态反馈控制的情况下实现了欠驱动连杆的位置控制。搭建了欠驱动机械臂的实验装置。所提出的控制方法的有效性实验证实。此外，我们考虑的情况下，欠驱动的链接是灵活的。运动方程是偏微分方程。在主动杆高频激励下，引入多时间尺度对欠驱动杆进行动力学分析。此外，在这种情况下，进行了实验和柔性欠驱动机械臂的运动控制实验证实。最后，我们考虑了高顺应性系统的应用。夹点不会产生影响对象，因为夹点的关节可以自由旋转。该系统采用高频激振，实现运动控制。