ROBUST MOTION CONTROL OF NONHOLONOMIC FLEXIBLE ROBOT

非完整柔性机器人的鲁棒运动控制

基本信息

批准号：
10650247
负责人：
YOSHIDA Kazuo
金额：
$ 2.3万
依托单位：
Keio University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1998
资助国家：
日本
起止时间：
1998 至 1999
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-10650247/
关键词：
Nonholonomic System Flexible Arm Flexible Structure Motion Control Trajectory Planning Attitude Control Robust Control 軌道計画

项目摘要

The simplicity of mechanisms and the reduction of weight in manipulators to make them feasible to be operated in outer space have become an important subject of research. In this study, by using lighter materials to reduce the weight and by suppressing as many as possible actuators at the joints to provide simplicity, we deal with the problem of controlling the motion of a multi-link manipulator possessing non-driven joints. The former of these measures causes deflections that can not be ignored and then the flexibility of the links has to be considered. In addition, the latter implies the appearing of nonholonomic constraint conditions. Therefore, the present study is aimed at developing an approach for the motion control of a multi-link flexible arm possessing joints not equipped with actuators.In first place in this study, a three-flexible-link arm with unactuated joints is modeled as a nonlinear Affine system. Since for this model we assume the mass of the arm comparatively smaller … More than the mass at the joints, the deflection of the links is approximated as a static bending. A method to solve the optimal positioning of this nonlinear system subjected to extreme conditions is, in general, very difficult; and for its optimal solution the control input is expressed as a general function of a Fourier basis parameter acquired by using a classical variational approach, the Ritz method. Then this parameter is optimized through the application of the Newton method. Additionally, the consumption of calculation time is shortened by obtaining the Jacobian using numerical procedures.In order to examine the validity of the present approach, computer simulations were carried out. The efficacy of the proposed approach was verified by achieving a number of position targets. Moreover, from the analysis of the results of the time histories response of the linksi angles, input torque, and the displacement of the joints and the payload at the tip of the arm, characteristics of optimal trajectories can be noticed. We can see, that in case the driven joint is located at the base, from this joint the posture for the links is provided and achieved in order, beginning with the farthest link. Also, it is clearly shown that the oscillating behavior of the control input corresponds with the number of degrees of freedom. Less

机械臂的机构简单化和重量减轻以使其能够在外太空操作已成为一项重要的研究课题，在这项研究中，通过使用更轻的材料来减轻重量并通过抑制尽可能多的执行器。为了简单起见，我们处理具有非驱动关节的多连杆机械手的运动控制问题，前一种措施会导致不可忽视的偏转，然后必须考虑连杆的灵活性。此外，后者意味着非完整约束条件的出现，因此，本研究旨在开发一种具有未配备执行器的关节的多连杆柔性臂的运动控制方法。 - 具有未驱动关节的连杆臂被建模为非线性仿射系统，因为对于该模型，我们假设臂的质量相对较小......大于关节处的质量，连杆的偏转近似为静态。一般来说，解决这种非线性系统在极端条件下的最优定位的方法是非常困难的，并且对于其最优解，控制输入被表示为通过使用经典变分获得的傅立叶基参数的一般函数。方法，然后通过应用牛顿法对该参数进行优化，此外，通过使用数值程序获得雅可比行列式来缩短计算时间。为了检验该方法的有效性，进行了计算机模拟。所提出方法的有效性。此外，通过对连杆角度、输入扭矩、关节位移和臂尖有效负载的时程响应结果的分析，验证了最佳特性。我们可以看到，如果从动关节位于底部，则从最远的连杆开始，从该关节开始按顺序提供并实现连杆的姿势。控制输入的振荡行为对应于自由度数。