Cooperative Control of Multiple Position-controlled Robots

多个位控机器人的协同控制

• 批准号: 07650312
• 负责人: OSUMI Hisashi
• 金额: $ 1.47万
• 依托单位: Chuo University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1995
• 资助国家: 日本
• 起止时间: 1995 至 1996
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07650312/
• 关键词: Cooperative control; Free Joint; Position control; Redundancy; Trajectory control; Manipulator; Industrial Robot; Manipulability; マンピュレータ; 受動関節機構

Cooperation of multiple robots well be one of the most significant techniques for future robots. It can improve various performances of robotic systems, such as payload capacity, grasping function, and so on. When multiple robots grasp single object at the same time, geometrical constraints by closed loop structures are imposed on each robot. Thus compliance is needed for each robot to avoid excessive inner forces caused by the mutual positioning errors of robots. Installation of mechanical compliance, such as springs or free joints among robots is one of the most simple and effective solutions to avoid excessive inner forces for cooperation systems with PID position controllers. Moreover, the stability problem will not be so critical for slow motion control. In this research, a cooperative control system between two industrial robots was developed using prototype free joint mechanisms. First, the necessary kinematic conditions of installed free joint mechanisms for not only avoiding excessive inner forces but also holding grasped object rigidly against external forces are shown. Second, the kinematic characteristics and statics are analyzed and kinematics is formulated. After explaining the necessity of installing redundant free joints into cooperative systems, the developed mechanism with four free joints and electro-magnetic brakes is described. As the cooperative system with free joint mechanisms has two kinds of redundancy, a way to exploit the redundancy is proposed. Some fundamental experiments were done and the effectiveness of the proposed system was verified.

多个机器人的合作是未来机器人最重要的技术之一。它可以改善机器人系统的各种性能，例如有效载荷能力，抓握功能等。当多个机器人同时掌握单个对象时，在每个机器人上施加了封闭环结构的几何约束。因此，每个机器人都需要遵守依从性，以避免由机器人的相互定位误差引起的过度内部力。机械合规性的安装，例如弹簧或机器人之间的自由关节是最简单有效的解决方案之一，避免了具有PID位置控制器的合作系统过多的内部力量。此外，稳定性问题对于慢动作控制并不是那么重要。在这项研究中，使用无原型联合机制开发了两个工业机器人之间的合作控制系统。首先，显示了安装的自由关节机制的必要运动条件，不仅避免了过度的内部力量，而且还显示了对外力的严格握住的物体。其次，分析了运动学特征和静态，并制定了运动学。在解释了将冗余免费接头安装到合作系统中的必要性之后，描述了具有四个自由关节和电磁制动器的开发机制。由于具有自由关节机制的合作系统具有两种冗余，因此提出了一种利用冗余的方法。进行了一些基本实验，并验证了所提出的系统的有效性。

项目成果

H.Osumi: "Cooperative system for Multiple Position-controlled Robots with Free Joiut Mechanisms" Proc.IEEE Int.Cont.on Robotics and Automation. (発表予定). (1997)

H.Osumi：“具有自由连接机构的多个位置控制机器人的协作系统”Proc.IEEE Int.Cont.on 机器人与自动化（即将发表）。

H.Osumi: "Cooperative System for Multiple Position controlled Robots with Free Joint Mechanisms" Proc.IEEE Int.Conf.on Robotics and Automation. (発表予定). (1997)

H.Osumi：“具有自由关节机构的多位置控制机器人的协作系统”Proc.IEEE Int.Conf.on 机器人与自动化（即将发表）。

H.Asama: "Distributed Autonomous Robotic Systems 2" Springer-Verlag, 441 (1996)

H.Asama：“分布式自主机器人系统 2”Springer-Verlag，441 (1996)

大隅 久: "3本のワイヤを有する7自由度クレーンとロボットの協調制御システム" 日本機械学会論文集(C1編). (発表予定). (1997)

Hisashi Osumi：“七自由度起重机和三线机器人的协作控制系统”日本机械工程师学会会议记录（C1 版）（预定发表）。

H.Asama: "Distribnted Autonomous Robotic Systems 2" Springer-Verlag, 441 (1996)

H.Asama：“分布式自主机器人系统 2”Springer-Verlag，441 (1996)