Force Transmission by Interactive Impedance Control in Hyper Redundant Manipulator

本文提出了一种新型的超冗余度机械臂控制策略。特别考虑了运动控制器的一种简化算法。在一般的工业机器人中，它至少有六个自由度的运动。随着控制技术的进步，在这种应用于大规模生产系统的机器人系统中实现高能力运动成为可能。然而，在柔性生产系统中，要完成复杂的任务需要大量的自由度运动，针对这一问题，本研究提出了一种多自由度冗余度机器人的控制策略。特别是，为了简化控制器，提出了交互式阻抗控制。所提出的控制器由多个子系统组成，动态力沿这些子系统传播。这意味着机械手的总运动是根据传播力任意控制的。在这种情况下，每个子系统的控制器是独立于运动自由度总数而构造的，其特性是通过使用来自相邻子系统的某些信息来确定的。这是我们方法的显著特点之一，并导致了总控制器的简化。几个仿真和实验结果证实了该方法的可行性。

In this research, a novel control strategy of hyper redundant manipulator is proposed. In particular, a simplified algorithm of the motion controller is considered. In the general industrial robot, it has six degrees-of freedom motion at least. With the progress of control technology, it is possible to realize a high ability motion in such a robot system which is applied to mass production system. In the flexible production system, however, the large number of degrees-of-freedom motion is required to accomplish the complicated task.To address the above issue, this study develops a control strategy for redundant manipulator with a large degree-of-freedom motion. In particular, interactive impedance control is proposed to simplify the controller. The proposed controller consists of several subsystem and the dynamic force propagates along them. This means that the total motion of the manipulator is arbitrary controlled according to the propagated force. In this case, the controller of each subsystem is constructed independently of the total number of degree-of-freedom motion and its characteristics is determined by using some information from the adjoining subsystem. This is one of the remarkable points of our approach and results in a simplification of the total controller. Several simulation and experimental results are shown to confirm the feasibility of our approach.