A Study on Dynamic Force Control of Robots

机器人动态力控制研究

• 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
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-61550177/
• 关键词: Robot; Robot Controller; Open Architecture; Force Control; Dynamic Control; Dynamic Sensing; Collision Control; 双腕ロボット; コンプライアンス制御; 力覚センサ; 拡張カルマンフィルタ; ディジタル信号プロセッサ; Robot; Robot Controller; Open Architecture; Force Control; Dynamic Control; Dynamic Sensing; Collision Control; 双腕ロボット; コンプライアンス制御; 力覚センサ; 拡張カルマンフィルタ; ディジタル信号プロセッサ

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.

这项研究计划调查机器人操纵器的力控制中的动态问题，并为机器人操纵器建立系统的设计动态力控制器。还从实际的角度计划了开发开放式体系结构机器人控制器，可以在该机器人控制器上编程力控制算法以进行实际环境中的测试。在这项研究中获得的结果总结如下：1。开发了符合机器人较低层控制的开放架构机器人控制器。通过这种开发的经验，提出了一个新的机器人控制器设计概念。2。建立了机器人力传感器的动态信号处理方法。在这种方法中，使用扩展的卡尔曼滤波器来删除传感器信号中混合的动态噪声（惯性效应）。该方法提供了一种工具，可以在高速运动下实现机器人的准确控制。3。研究了可能发生碰撞的力控制，提出了一种新方法，以控制约束表面和自由空间之间边界附近的机器人的运动。速度和力之间的人为约束成功地施加了机器人的运动，以控制碰撞4。作为力量控制应用的一个例子，研究了两个ARM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，尽管该研究中获得的动态方法尚未在框架中进行测试。Future研究将针对机器人力控制动态问题的系统研究。在将动态力控制方法应用于复杂的机器人系统（例如两个ARM机器人，可抗脑子手术器）之前，需要采用系统理论方法。