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arXiv 1402.5461cs.RO
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智能机械系统力/运动控制的初步研究

Preliminary Studies on Force/Motion Control of Intelligent Mechanical Systems

Dinesh Rabindran

备注：
Masters Thesis, Mechanical Engineering Department, The University of Texas at Austin, 2004
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摘要：

为了使工业自动化系统所需的相对较高的投资合理化，智能机器领域的研究应针对高价值函数，例如修边、模具精加工、去毛刺和无夹具制造。为了实现这一目标，过去的工作集中在力控制算法在系统级与有限的重点在执行器级的性能扩展。我们提出了一个全面的文献综述机器人力控制，包括算法，专门的执行器，和机器人控制软件。利用Schunk公司的PowerCube六自由度机械臂和ATI六维力/力矩传感器研制了机器人力控制试验台。通过参数辨识实验，估计了机械臂模块的惯性和电机的转矩常数。进行了实验，以研究涉及实现稳定的接触过渡和可编程的端点阻抗的实际问题。应用人类增强，虚拟夹具，和遥操作进行了讨论。这些实验被用作车辆，以了解在致动器级别可实现的性能改善。UTRRG的方法是最大限度地增加执行器内的选择，以提高其智能性。借鉴这20年的机电致动器架构的研究历史，我们提出了一个新的概念，混合两个输入，不同的速度比，在同一个双致动器称为力/运动致动器（FMA）。详细的运动学和动力学模型，这种双驱动器的开发。执行机构的性能进行评估，使用模拟与输出速度规格和解决输入轨迹使用最小范数的解决方案。结果表明，两个输入之间的14：1的运动缩放的设计选择在不影响速度跟踪性能的情况下，输出力干扰的良好灵敏度的结果。

英文摘要：

To rationalize the relatively high investment that industrial automation systems entail, research in the field of intelligent machines should target high value functions such as fettling, die-finishing, deburring, and fixtureless manufacturing. For achieving this goal, past work has concentrated on force control algorithms at the system level with limited focus on performance expansion at the actuator level. We present a comprehensive literature review on robot force control, including algorithms, specialized actuators, and robot control software. A robot force control testbed was developed using Schunk's PowerCube 6-DOF Arm and a six-axis ATI force/torque sensor. Using parameter identification experiments, manipulator module inertias and the motor torque constant were estimated. Experiments were conducted to study the practical issues involved in implementing stable contact transitions and programmable endpoint impedance. Applications to human augmentation, virtual fixtures, and teleoperation are discussed. These experiments are used as a vehicle to understand the performance improvement achievable at the actuator level. The approach at UTRRG has been to maximize the choices within the actuator to enhance its intelligence. Drawing on this 20-year research history in electromechanical actuator architecture, we propose a new concept that mixes two inputs, distinct in their velocity ratios, within the same dual actuator called a Force/Motion Actuator (FMA). Detailed kinematic and dynamic models of this dual actuator are developed. The actuator performance is evaluated using simulations with an output velocity specification and resolving input trajectories using a minimum-norm solution. It is shown that a design choice of 14:1 motion scaling between the two inputs results in good sensitivity to output force disturbances without compromising velocity tracking performance.

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