Module Base Control of Network-structure Robots with Huge Degree-of-freedom

为了建立一种有效的方法来控制由模块组成的具有大自由度的网络结构机器人，提出了基于模块的控制方法，并将其应用于平面和空间网络结构机器人。对其控制性能进行了理论和实验研究。主要研究成果如下：(1)考虑模块上的代表点，推导了三种具有多个执行器和自由度的网络结构模块的运动学正逆公式。提出了一种新的基于迭代收敛计算的网络结构机器人逆运动学求解方法，该方法针对不准确的代表点期望位置重复各模块的逆运动学，实现了整个机器人的正运动学。(2)基于所提出的代表点逆运动学方法，对平面12自由度网络结构机器人的连续路径控制进行了…实验更仔细地检查一下。将基于模块的控制方法推广应用于具有多个输出点的平面网络结构机器人或具有多个回转关节和过作动器的平面网络结构机器人。以较小的迭代计算量实现了高精度的定位。(4)对具有多节点、回转节点、圆柱节点和球节点的空间网架结构模块进行了数值综合。将所得到的两个模块相结合，合成了一个五自由度的空间网络结构机器人。(5)对综合后的空间网络结构机器人进行了直接运动学分析和奇异位形分析。在此基础上，建立了可避免奇异位形的机器人样机，并进行了实验验证。验证了所提出的基于模块的控制方法对平面或空间网络结构机器人的控制是有效和有用的。较少

Aiming to establish an effective method to control network-structure robots which are composed of modules and have with huge degree-of-freedom, Module Base Control was proposed and was applied to planar and spatial network-structure robots. The control performance was theoretically and experimentally discussed. The results obtained are summarized as follows.(1) Formulae of the direct and inverse kinematics of three kinds of network-structure modules with several actuators and DOF were derived by taking account of representative points on the modules. A new method to carry out the inverse kinematics of network-structure robot with iterative convergent calculation repeating the inverse kinematics of the modules for the inaccurate desired positions of the representative points and the direct kinematics of the whole robot was proposed(2) Continuous path control of the planar network-structure robot with 12 DOF based on the proposed inverse kinematics with representative points was experime … More ntally examined. Because the robot could generate the desired trajectories, the proposed method was confirmed effective and useful.(3) The module base control method was extended and applied to planar network-structure robots with several output points or with multiple revolute joints and overactuators. They achieved precision positioning with small iterative calculations.(4) Number syntheses of spatial network-structure modules which have multi-jointed links, revolute joints, cylindrical joints and spherical joints was carried out. By combining the obtained two modules, a spatial network-structure robot with five degrees-of-freedom was synthesized.(5) Direct kinematic analysis and singular configuration analysis of the synthesized spatial network-structure robot were carried out. By using the results, a prototype of the robot which could avoid singular configuration was built and experimentally examined. It was then confirmed that the proposed module base control was effective and useful to control planar or spatial network-structure robots. Less