| Co-Investigator(Kenkyū-buntansha) |
ABE Koyu Tohoku Univ, Faculty of Eng., Technical Staff, 工学部, 教務職員 (80261600)
NENCHEV Dragomir Nigata Univ, Faculty of Eng., Professor, 工学部, 教授 (80270809)
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| Research Abstract |
In this project, aiming at application of flexible dual-arm robots to practical tasks, we researched on the force and cooperative control of this type of robots. Specifically, we researched on the modeling of the task process such as holding, carrying and assembling objects, and designed a force and cooperative control system based on the modeling. The results of the project are summarized as follows :
1.Regarding the modeling, we proposed a simple but effective lumped-parameter model for the flexible arm and evaluated its precision and applicability. Based on the model, we also analyzed the controllability of the flexible arm that no one has researched and found different uncontrollable configurations that are interesting and importnat.
2.Regarding the force control, we formulated the system as a constrained mechanical system, based on which we made analysis and designed a controller. We verified its effectiveness by experiments. We also discussed the interference between force control and vibration control and clarified its geometry.
3.Regarding the cooperative control, as in the case of force control, we modeled the system as a constrained mechanical system, based on which we designed a cooperative control system. We applied the control system to a three-dimensional flexible dual-arm robot and implemented a task of holding and carrying an object. The experiment should be one of the world-first.
4.Regarding the inverse kinematics and dynamics of flexible arms, we formulated the problem as that of differential-algebraic equations and proposed a new solution to it that is based on learning control. We analyzed the convergence of the solution and derived a condition for it. We clarified its effectiveness by experiment and simulation.
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