Motion Control of Hyper Redundant Robots with Learning Control Scheme Based on Linear Combination of Error History

针对超冗余度机器人的运动控制问题，提出了基于误差历史线性组合的学习控制方法，讨论了设定合适的子任务和获得合适的机器人初始位形的新方法、基于机器人灵巧度的最优运动控制方法以及带弹性元件的机器人柔性控制方法。（1）针对超冗余度平面串联机器人，提出了一种新的子任务设置方法，使其既能避开障碍物，又能辅助主任务。(2)提出了一种新的“反向学习方案”，将正向学习得到的收敛构形作为初始构形，重复学习过程，以获得合适的初始构形。（3）从关节雅可比矩阵的列向量出发，推导出了评价主任务辅助性和杆件可动性的定量指标。以这些指标为目标函数，采用梯度投影法和学习控制对关节输入进行优化。(4)提出了一种新的柔性控制方法，该方法能同时控制具有弹性被动关节的闭环冗余度机械臂的输出位移和刚度分布，并进行了实验研究。结果表明，基于误差历史线性组合的学习控制可以在利用冗余度的同时实现运动和输出力的控制。

Aiming to establish effective motion control scheme for hyper redundant robot by learning control based on linear combination of error history, new methods to set suitable subtasks and to obtain suitable initial configuration of the robots, the optimum motion control based on dexterity of the robots, and flexibility control of the robots with elastic elements are discussed. The obtained results are summarized as follows :(1)For hyper redundant planar serial manipulators, new methods to set subtask so as to pass obstacles away or assist main task were proposed and formulated.(2) A new 'Backward learning scheme', in which a converged configuration obtained with forward learning was set as initial configuration and the learning processes were repeated, was proposed so as to obtain suitable initial configuration.(3)Quantitative indices to evaluate assistability for main task and movability of links were derived from column vector of Jacobian matrices of joints. By setting the indices as objective functions, the joint inputs were optimized with gradient projection method and learning control.(4) new flexibility control method to specify both of output displacement and stiffness distribution of a closed-loop redundant manipulator with elastic passive joints was formulated and was experimentally examined. A prototype can then manipulate soft/hard objects while controlling output flexibility.It was thus revealed that the learning control based on linear combination of error history could realize motion and output force control while utilizing redundancy.