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

机制的简单性和操纵器中的重量减轻使它们在外太空中可行的可行性已成为研究的重要主题。在这项研究中，通过使用较轻的材料来减轻重量并抑制关节处的尽可能多的执行器以提供简单性，我们解决了控制具有非驱动接头的多连接操纵器的运动的问题。这些措施中的前者导致无法忽视的偏转，然后必须考虑链接的灵活性。另外，后来意味着非自我工艺约束条件的出现。因此，本研究旨在开发一种方法，以进行运动控制多连接柔性臂电势关节与执行器不等的方法。首先，在这项研究中，具有未触发接头的三链链路臂被建模为非线性仿射系统。由于对于该模型，我们假设手臂的质量相对较小……比接头处的质量大，因此链路的挠度近似为静态弯曲。通常，解决这种非线性系统的最佳定位方法通常非常困难。对于其最佳解决方案，控制输入表示是通过使用经典变分方法RITZ方法获得的傅立叶基量参数的一般函数。然后，通过牛顿方法的应用来优化此参数。此外，通过使用数值程序获得Jacobian来缩短计算时间的消耗。为了检查本方法的有效性，进行了计算机模拟。通过实现许多位置目标来验证所提出的方法的效率。此外，从对Linksi角度，输入扭矩的时间历史响应的结果分析，以及关节的位移和手臂尖端处的有效载荷，可以注意到最佳轨迹的特征。我们可以看到，如果驱动的关节位于基部，从该关节开始，从最远的链接开始，就可以为链接提供并实现链接的姿势。同样，清楚地表明，控制输入的振荡行为与自由度的数量相对应。较少的