Control of Flexible Robot Arms by Autonomous Position Sensing.

本研究旨在建立一种有效利用机器人自主位置信息的柔性机械臂控制方法。1.在机器人系统设计的新理念下，设计并建立了三维FRA实验系统FLEBOT-II。提出了一种变增益减振控制算法，并通过实验验证了该算法的有效性。开发了一种自主位置传感系统，其功能类似于惯性导航系统。虽然机器人工作范围的零稳定度和S/N比仍不足以安装在机器人上，但阐明了该系统的基本特征，并证实了该方法的可行性。激光光学…检测位置信息的另一种方法已检查更多TION传感器，并显示提示。3.系统分析了法兰克福机场任务可执行性的特点。提出了弯曲误差可补偿性的新概念，给出了补偿条件和判据，阐明了FRA的可操作性。在此基础上，提出了补偿控制算法和将消振控制与补偿控制相结合的递阶控制系统，并通过实验验证了其有效性。这些研究结果为赤霉病的防治奠定了基础。利用OPTFOLLOW的位置信息代替惯性传感系统提供的自主位置信息，成功地实现了重力作用下弹性变形的反馈补偿轨迹控制，并展望了这一研究的前景。未来的研究方向是应用模型基方法来改善惯性传感器的性能极限。较少

This research was planned to establish a control method of flexible robot arms (FRA for short) by effective use of the autonomous position information. For this purpose, centering around the system developments, basic investigations have been done and the results obatined are summerized as follows:1. An experimental system ARS/F of a 3-dimensional FRA, named as FLEBOT-II, has been designed and built under the new concepts of robotic system design. A variable gain algorithm is proposed for the vibration suppression control and is proved to be effective by experiments.2. An autonomous position sensing system which behaves like an inertial navigation system has been developped. Although the zero stability and S/N ratio for the working range of robots are still found to be insufficient to be installed on robots, the fundamental characteristics of the system are clarified and the possibility of the method is confirmed. Another method of detecting position information by laser optical deflec … More tion sensor has been examined and is shown to be promizing.3. The characteristics of task performability of FRA were analyzed systematically. A new concept of compensability of the flexural error is proposed and its condition and criteria are presented and the manipulability of FRA is also clarified. Moreover, the compensating control algorithm and a hierarchical control system which unifies the vibration suppression control and the compensating control are proposed and their effectiveness is confirmed experimentally. These results obtained lay the foundation for the control of FRA.4. Instead of autonomous position information from the inertial sensing system, position information of the endeffector by OPTFOLLOW is adopted and the trajectory control by a feedback compensation of elastic deformation due to gravity is realized successfully, which leads to a prospect of this research. Future research will be directed to improve the performance limitation of the inertial sensor by applying model-basec methods. Less