Studies on Collision Detection and Control of Multi-link Flexible Manipulators for Their Safety Operations

多连杆柔性机械臂安全运行碰撞检测与控制研究

• 批准号: 21560240
• 负责人: SAWADA Yuichi
• 金额: $ 3.08万
• 依托单位: Kyoto 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: 2009
• 资助国家: 日本
• 起止时间: 2009 至 2011
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-21560240/
• 关键词: マニピュレータ; 柔軟構造物; 制御; 衝突検出; 安全性

In this research, the following results have been obtained. Considering the nonlinearity of flexible manipulators, Unscented Kalman Filers(UKF) as nonlinear state estimators have been introduced in order to obtain the state estimate of the manipulator. The collision detection for multi-link flexible manipulator has been succeeded based on the innovation process of the UKF. Since the impact force caused by collisions are regarded as unknown disturbance, the estimation error of the state estimator increases when the collision occurs. The deterioration of the estimation error affects the control performance for the flexible manipulator when the collision is detected. To improve the control performance of the flexible manipulator when unobserved obstacles collide with the arm's side, Optimal Disturbance Decoupling Filters that decouples undesired collision force effects from the estimation error have been introduced. As the result, the control performance when the collision occurs have successfully improved.

本研究取得了以下成果。考虑到柔性机械臂的非线性，为了获得机械臂的状态估计，引入了无迹卡尔曼滤波器（UKF）作为非线性状态估计器。基于UKF的新息过程，成功地实现了多连杆柔性机械臂的碰撞检测。由于碰撞引起的冲击力被视为未知扰动，当碰撞发生时，状态估计器的估计误差增大。当检测到碰撞时，估计误差的恶化会影响柔性机械臂的控制性能。为了提高柔性机械臂的控制性能时，不可观测的障碍物碰撞与臂的一侧，最优干扰解耦滤波器，从估计误差中消除不希望的碰撞力的影响已被引入。结果，成功地提高了发生碰撞时的控制性能。

项目成果

Control of a Parallel-link Flexible Manipulator based on Lumped Parameter Model Approach Using Strain Sensor Model

使用应变传感器模型的基于集总参数模型方法的并联柔性机械手控制

• 发表时间: 2011
• 作者: Y.Andoy;Y.Sawaday;G.Takahashiz;S.Yokosuka
• 通讯作者: S.Yokosuka

UKF-Based Collision Detection and Control of Parallel-structured Two-link Flexible Manipulators

基于UKF的并联结构二连杆柔性机械臂碰撞检测与控制

• 发表时间: 2012
• 期刊: International Journal of Innovative Computing, Information & Control
• 作者: Yuichi Sawada;Junki Kondo;Yusuke Watanabe
• 通讯作者: Yusuke Watanabe

An improved recursive algorithm of optimal filterfor discrete-time linear systems subject to colored observation noise

受有色观测噪声影响的离散时间线性系统最优滤波器的改进递归算法

• 发表时间: 2012
• 期刊: International Journal of Innovative Computing, Information and Control.
• 作者: R. Cada;S. Chiba;K. Ozeki;P. Vrana;K. Yoshimoto;Y. Sawada and A. Tanikawa
• 通讯作者: Y. Sawada and A. Tanikawa

衝突入力の影響を受けないUKFを用いた柔軟アームの制御とイノベーション過程に基づく衝突検知

基于创新流程的不受碰撞输入影响的采用UKF的灵活手臂控制和碰撞检测

• 发表时间: 2011
• 作者: 澤田祐一;寳壁俊之
• 通讯作者: 寳壁俊之

Unscented Kalman Fiterを用いた柔軟マニピュレータの衝突検出とUnscented変換の特性検証

基于Unscented Kalman Fiter的柔性机械臂碰撞检测及Unscented变换特性验证

• 发表时间: 2010
• 作者: Y.Sawada;J.Kondo;Y.Watanabe;渡邊裕介・澤田祐一
• 通讯作者: 渡邊裕介・澤田祐一