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MOTION AND FORCE CONTROL OF A FLEXIBLE MANIPULATOR WITH COLLISION PHENOMENA

具有碰撞现象的柔性机械臂的运动与力控制

基本信息

批准号：
09450066
负责人：
KOIKE Sekiya
金额：
$ 4.67万
依托单位：
Tokyo Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
1997
资助国家：
日本
起止时间：
1997 至 1999
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09450066/
关键词：
Flexible Manipulator Motion and Force Control Collision Phenomena Capture of Moving Object Shock Absorbing Mechanism Coordinated Control Optimum Approach Velocity Ejection of Object 動的力・速度変換則関節角速度制御フィードフォワード制御力・速度変換則衝突力

项目摘要

(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.

(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振动方程，推导出关节角速度与终点速度之间的传递函数。然后，利用上述传递函数，结合传递函数的特点，计算出一种前馈的角速度输入，该输入既能减小任务坐标系中端点速度响应的振动，又能减小端点轴向速度之间的干扰。最后利用前馈速度输入实现了单机械手的混合控制和双机械手的协同控制。给出了速度控制柔性机械臂在冲击过程中的稳定力控制律和最优逼近速度。从机械手的一阶振动方程出发，推导出了一种最优趋近速度，该速度可以改善机械手在有回弹时的位置响应。(B)：减震手(1)。提出了一种简单的减震机构和稳定的抓取控制律，在抓取运动目标时不会产生冲击力响应。为了减小末端执行器碰撞点的惯性力和阻尼力的等效值，利用机构的奇异点，在双指之间张开一根钢丝。提出了一种减震末端执行器中手指与直流电机之间的运动传动机构的动态综合方法，以实现对运动物体的捕捉时所需的力响应。