柔性机械臂与运动物体接触运动的控制策略

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-10-29 DOI:10.1109/IROS.2001.976286

Y. Morita, Keiji Tsujimura, H. Ukai, H. Kando

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引用次数: 0

摘要

提出了一种柔性机械臂与匀速运动物体接触运动的控制策略。我们的目的是设计一个控制器，以实现从自由空间到约束空间的平滑过渡，并在碰撞时改变控制律。该控制器由位置/力PI混合控制、振动抑制控制和模式选择器组成。为了改善由于柔性臂的弹性而导致控制性能下降的问题，基于弹性振动分解的概念设计了该控制器。实验结果表明了该控制器的有效性。

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Control strategy of flexible manipulators for contact motion to moving object

This paper presents a control strategy of flexible manipulators for the contact motion to a moving object with a constant velocity. Our purpose is to design a controller in order to accomplish the smooth transition from a free space to a constrained space with changing control laws at a collision. The proposed controller consists of a hybrid position/force PI control, vibration suppression control, and mode selector. In order to improve the control performance degraded by the elasticity of flexible arms, the controller is designed on the basis of the concept of decomposition of elastic vibration. Some experimental results show the effectiveness of the proposed controller.

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来源期刊

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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