Theoretical and Experimental Studies of Compliant Motion Control for Robot Manipulator

具順應性運動控制之機械手臂理論與實驗研究

查國強(Kuo-Chiang Cha) ； 陳玉山(Yu-Shan Chen)

《中國航空太空學會學刊》 32卷2期 (2000/06) Pp. 167-178

https://doi.org/10.6124/TAASRC.200006_32(2).08

摘要

事實上，大部份的機械手臂都具有追蹤控制的功能，然而當手臂在觸及物體峙，有關力量控制器之研究則有限。本文以非線性推論出具穩定性機械手臂順應性運動的輸入與輸出間關係，文中證明：當系統穩定時，必然於機械手臂內部或外部環境中存在某些順應性，然而根據充份條件之穩定準則，若是機械手臂內部或外部環境中具较小的順應性，將導致很窄的穩定範圍。我們利用卡式座標結合實驗方式證明機械手臂穩定之充份條件，以往一些實驗也曾經證明穩定準則的充份條件，滿足其條件即能獲得穩定，若違反規則，則系統之穩定性無法確定。最後，藉求得干擾順應性功能、外部環境和機械手臂動態並配合追蹤控制器等，我們可選擇一個補償器在系統穩定時控制真實接觸力大小。

關鍵字

機械手臂 ； 順應性運動 ； 干擾－順應性功能 ； 接觸力

並列摘要

The fact that most robot manipulators already have some kind of tracking controllers and, however, studies of the force controllers are more limited is the motivation behind our approach. A nonlinear approach is presented here in the input/output sense for the stability of robot's compliant motion. For stability, we show that there must exist some compliance either in the robot or in the environment. According to the ＜||＞sufficient＜||＞ stability criteria, smaller compliance either in the robot or in the environment leads to a narrower stability range. We verify the sufficient stability condition via experiments using a Cartesian manipulator. Some experiments have been performed to demonstrate that the stability criterion is only a sufficient condition. If the condition is satisfied, the stability is guaranteed. However, if the condition is violated, no conclusion can be made. Finally, by knowing disturbance-compliance function, environment dynamics and robot dynamics with tracking controller, we can choose a compensator to shape the contact force if the sufficient stability condition is satisfied.

並列關鍵字

Robot Manipulators ； Compliant Motion ； Disturbance-Compliance Function ； Contact Force