Singularity-Consistent Control of a Kinematically Redundant Manipulator with Seven Degrees-of-Freedom

1.为三菱重工PA-10机械臂制作了图形模拟器。将奇异一致性（SC）方法应用于无连杆偏移的七自由度机械臂（如PA-10机械臂）。验证了两种方法，一种是基于列增广雅可比矩阵的零空间，另一种是基于行增广雅可比矩阵。结果表明，该方法可得到两个矢量场，一个用于自运动，另一个用于末端执行器运动。购买了PA-10机械臂，并组装了实验装置。基于MATX编程语言编写了仿真程序。该程序的输出作为实验装置控制系统的控制输入。验证了该方法在运动奇异点附近的平滑性能。以SpaceMouse为输入设备，开发了一个远程控制系统，并使用C/ c++和Open Inventor编写了控制程序。SC方法的结果得到了成功的实施和测试。开发并实现了一个专门适合于围绕奇异点进行远程控制的图形用户界面（使用JAVA编程语言）。在东京武藏技术研究所的青森县广崎大学进行了远程控制PA-10手臂的测试。将算法奇点描述为“内部障碍”，并提出了一种反馈控制方法来处理它。并将该方法与伪逆法和DLS法进行了比较。

1.A graphical simulator for the Mitsubishi Heavy Industries PA-10 robot arm was made.2.The Singularity-Consistent(SC) method was applied to a seven degrees-of-freedom arm without link offsets (such as the PA-10 robot arm). Two methods have been verified-one based on the null-space of the column-augmented Jacobian, and one based on the row-augmented Jacobian. It was confirmed that the methods lead to two vector fields-one for the selfmotion, on for the end-effector motion.3.A PA-10 robot arm was purchased and an experimental setup was assebmlied.4.A simulation program based on the MATX programming language was developed. The output of this program was used as control input to the control system of the experimental setup. Smooth performance around kinematic singularities was confirmed.5.A system for remote control using a SpaceMouse as an input device, and a control program in C/C++ and Open Inventor was developed. The results from the SC method were implemented and tested successfully.6.A graphical user interface specifically suited for remote control around singularities was developed (with JAVA programming language) and implemented. A test for remote control of the PA-10 arm located at Hirosaki University in Aomori prefecture from Musashi Institute of Technology in Tokyo was done.7.An alogorithmic singularity was described as an "Internal Obstacle" and a method for feedback control was proposed to deal with it.8.The method developed was compared with other well-known methods such as pseudoinverse and DLS.