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首页> 外文期刊>IEEE Transactions on Industrial Electronics >Task Realization by a Force-Based Variable Compliance Controller for Flexible Motion Control Systems
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Task Realization by a Force-Based Variable Compliance Controller for Flexible Motion Control Systems

机译：柔性运动控制系统中基于力的可变顺应性控制器实现的任务

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摘要

This paper proposes a task realization method by using a force-based variable compliance controller for flexible motion control systems. In recent years, the robots working in human life space are desirable. Considering the robots working in human life space, they should achieve the safety motion. From this viewpoint, one of the key technologies is flexible motion control system. Of course, task realization instead of human beings is important. Therefore, it is necessary to propose the realization method of several tasks for the flexible motion control systems. In this paper, two robot tasks are defined: “approach task” and “pushing task.” The approach task is the motion for a robot to approach an environment and not to contact the environment. On the other hand, the pushing task is the motion for the robot to contact and push the environment in order to achieve the several tasks. For the realization of the several tasks to the environment, it is necessary to achieve both the position control during the approach task and the force control during the pushing task. Therefore, the controller has to be modified depending on the contact state, which means whether the robot is in contact with the environment or not. In order to modify the controller, the variable compliance gain which is varied according to the contact state is proposed. Focusing on the approach task, the position control which is equivalent to the conventional position-based compliance method is achieved by using the proposed method. On the other hand, the proposed controller is suitable for the pushing task compared with the conventional position-based compliance controller since the proposed controller is based on the force control. Therefore, several tasks which include the position tracking and the contact with the environment are actualized by using the proposed method. In addition, the performance analysis by a Bode diagram and stability analysis by root loci are co- ducted. The validity of the proposed method is confirmed from the experimental results.
机译：提出了一种基于力的可变柔量控制器用于柔性运动控制系统的任务实现方法。近年来，人们希望在人类生活空间中工作的机器人。考虑到机器人在人类生活空间中工作，它们应该实现安全运动。从这个角度来看，关键技术之一就是灵活的运动控制系统。当然，实现任务而不是人类很重要。因此，有必要提出一种针对柔性运动控制系统的多种任务的实现方法。在本文中，定义了两个机器人任务：“接近任务”和“推动任务”。接近任务是机器人接近环境而不接触环境的动作。另一方面，推动任务是机器人接触并推动环境以完成多项任务的运动。为了实现对环境的若干任务，必须同时实现接近任务期间的位置控制和推入任务期间的力控制。因此，必须根据接触状态来修改控制器，这意味着机器人是否与环境接触。为了修改控制器，提出了根据接触状态而变化的可变顺应性增益。针对进近任务，通过使用所提出的方法来实现与传统的基于位置的依从性方法等效的位置控制。另一方面，与常规的基于位置的依从性控制器相比，所提出的控制器适合于推动任务，因为所提出的控制器是基于力控制的。因此，通过使用所提出的方法，可以实现包括位置跟踪和与环境的接触在内的若干任务。此外，结合了通过Bode图进行的性能分析和通过根基因座进行的稳定性分析。实验结果证实了该方法的有效性。

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