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首页> 外文期刊>Journal of robotic systems >Force and Position Control of Grasp in Multiple Robotic Mechanisms
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Force and Position Control of Grasp in Multiple Robotic Mechanisms

机译：多种机器人机构中抓握力和位置的控制

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摘要

One of the approaches to increase the dexterity of a robot manipulating system is a design philosophy that consists of multiple robotic mechanisms. Applications of such a collection of manipulators can be in the design of a dextrous end-effector, a recon-figurable fixture to locate and grip various sized objects, or cooperative robotic arms which through their coordinated motions are able to accomplish a given task. Although the applications of such a design philosophy are endless, many problems still remain to be addressed. One of these problems is the control of the contact forces (grasping forces) between the mechanisms and the position of the grasped object. This article addresses this problem. First, a model of the mechanisms in contact with the grasped object is postulated; second, the problem of controlling the grasping forces and the position of the grasped object is formulated in the linear multi-input/multi-output system, and, finally, a centralized optimal controller is proposed for controlling the desired variables. The results of this article are demonstrated using two examples. One of the main advantages of the proposed controller is that it also shapes the transient response of the grasping force, which is an important consideration in cases when grasping fragile objects.
机译：一种提高机器人操纵系统灵活性的方法之一是一种由多个机器人机构组成的设计理念。此类机械手的应用可以用于以下方面的设计：灵巧的末端执行器，可重构的固定装置，用于定位和抓握各种尺寸的物体；或者协作式机械臂，通过它们的协调运动，它们可以完成给定的任务。尽管这种设计原理的应用是无止境的，但仍有许多问题有待解决。这些问题之一是控制机构之间的接触力（抓力）和被抓物体的位置。本文解决了这个问题。首先，提出了与被抓物体接触的机制模型。其次，在线性多输入/多输出系统中提出了控制抓取力和被抓物位置的问题，最后提出了一种集中式最优控制器，用于控制期望变量。本文的结果使用两个示例进行了演示。所提出的控制器的主要优点之一是，它还可以塑造抓握力的瞬态响应，这在抓握易碎物体的情况下是一个重要的考虑因素。

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