MOTION AND FORCE CONTROL OF A FLEXIBLE MANIPULATOR WITH COLLISION PHENOMENA

（A）.柔性机械手（1）。首先，提出了一种适用于曲面约束的基于角速度控制的柔性机械臂混合控制方法。其次，通过考虑偏转角反馈项的机构一阶模态振动方程，导出了关节角速度与端点速度之间的传递函数。第三，根据传递函数的特点，利用该传递函数计算出前馈角速度输入，该前馈角速度输入既能减小端点速度响应的振荡，又能减小任务坐标系中端点轴向速度之间的干扰。最后，利用该前馈角速度输入，实现了单机械手的混合控制和双机械手的协调控制。（二）、针对速度控制柔性机械臂在碰撞过程中的稳定力控制问题，提出了一种稳定力控制律和最优接近速度。利用机械臂的一阶模态振动方程，推导出了一个最佳接近速度，该速度能改善机械臂在碰撞时的切向位置响应，并使机械臂的端点反弹。(B)：减震手（1）。提出了一种简单的吸震机制和稳定的捕获控制律，使捕获运动目标时无冲击力响应。为了减小末端执行器碰撞点处的惯性力和阻尼力的等效值，利用机构的奇异点，在双手指之间拉伸一根金属丝。（二）、提出了一种用于吸振末端执行器的手指与直流电机之间的动力传动机构的动力学综合方法，该方法能实现对运动目标的捕获所需的力响应。

(A).Flexible manipulator(1). Firstly, a hybrid control method for a flexible manipulator based on an angular velocity control, which is applicable to curved constraint surfaces, is proposed. Secondly, a transfer function relating joint angular velocity to endpoint velocity is derived through first mode vibrational equation of the mechanism in consideration of deflectional angle feedback term. Thirdly, a feedforward angular velocity input, which reduces not only the vibration of the endpoint velocity responses but also the interference between endpoint axial velocities in task coordinates system, is calculated through above transfer function taking the characteristics of the transfer function into consideration. Finally, hybrid control of a single manipulator and cooperative control of dual manipulators are realized by using above feedforward angular velocity input.(2). A stable force control law and an optimum approach velocity for a velocity controlled flexible manipulator under impact process are proposed. An optimum approach velocity, which improves position responses in tangential direction at impact with rebounding of endpoint, is derived by using first mode vibrational equation of the manipulator.(B):Shock absorbing hand(1). A simple shock absorbing mechanism and stable capturing control law which makes no impulsive force responses in capture of moving object is proposed. In order to reduce equivalent values of inertial force and damping force at colliding point of end effector, singular point of mechanism is utilized by stretching a wire between dual fingers.(2). A dynamic synthesis method of kinetic transmission mechanism between fingers and a DC motor in a shock absorbing end effector which realizes desired force responses in capture of moving object is proposed.