A Study on Dynamic Force Control of Robots

机器人动态力控制研究

基本信息

批准号：
61550177
负责人：
YOSHIE Kazuo
金额：
$ 1.15万
依托单位：
TOHOKU UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1986
资助国家：
日本
起止时间：
1986 至 1987
项目状态：
已结题

项目摘要

This research was planned to investigate dynamic problems in force control ofrobot manipulators and to establish a systematic method ot design dynamic force controllers for the robot manipulators. It was also planned from a practical point of view to develop an open architecture robot controller on which force control algorithms can be programmed for tests in real environments. The results obtained in this research are summarized as follows:1. The open architecture robot controller which meets the research of lower level control of robots, was developed. Through the experience of this development, a new concept of robot controller design was presented.2. A dynamic signal processing method of robot force sensors was established. In this method, an extended Kalman filter is used to remove the dynamic noises (inertial effects) mixed in the sensor signal. This method provides a tool to realize accurate force control of robots under high-speed motion.3. Force control where collision may happen was investigated an da new method was presented to control the motion of robots in the vicinity of the boundary between the constraint surface and the free space. An artificial constraint between velocity and force was imposed successfully to the motion of the robots to make the collision to be controlled.4. As an example of force control applications, force control for the coordination of two arm robots was investigated and a framework for the application of force control to this problem was presented, although the dynamic methods obtained in this research were not tested in the framework.Future research will be directed to the systematic investigation of the dynamic problems of robot force control. A system theoretical approach is required before applying the dynamic force control methods to sophisticated robotic systems such as two arm robots, flcxible manipulators.

本研究旨在研究机器人机械臂力控制的动态问题，并建立一种设计机器人机械臂动态力控制器的系统方法。还从实用的角度出发，计划开发一种开放式架构的机器人控制器，在该控制器上可以对力控制算法进行编程，以便在真实环境中进行测试。本研究取得的成果如下： 1．开发了满足机器人底层控制研究的开放式机器人控制器。通过这次开发的经验，提出了机器人控制器设计的新理念。 2．建立了机器人力传感器动态信号处理方法。在该方法中，使用扩展卡尔曼滤波器来去除混合在传感器信号中的动态噪声（惯性效应）。该方法为实现机器人高速运动下的精确力控制提供了工具。 3．研究了可能发生碰撞的力控制，提出了一种新方法来控制机器人在约束面和自由空间之间边界附近的运动。成功地对机器人的运动施加速度和力之间的人为约束，使碰撞得到控制。 4．作为力控制应用的一个例子，研究了两个手臂机器人协调的力控制，并提出了将力控制应用于该问题的框架，尽管本研究中获得的动态方法没有在该框架中进行测试。研究将针对机器人力控制的动态问题进行系统研究。在将动态力控制方法应用于复杂的机器人系统（例如双臂机器人、柔性机械手）之前，需要采用系统理论方法。