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首页> 外文期刊>Journal of Intelligent & Robotic Systems: Theory & Application >A Control Method for Joint Torque Minimization of Redundant Manipulators Handling Large External Forces
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A Control Method for Joint Torque Minimization of Redundant Manipulators Handling Large External Forces

机译：处理大型外力的冗余机械手的关节扭矩最小化控制方法

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摘要

In this paper, a control method is developed for minimizing joint torque on a redundant manipulator where an external force acts on the end-effector. Using null space control, the redundant task is designed to minimize the torque required to oppose the external force, and reduce the dynamic torque. Furthermore, the joint motion can be weighted to factor in physical constraints such as joint limits, collision avoidance, etc. Conventional methods for joint torque minimization only consider the internal dynamics of the manipulator. If external forces acting on the end-effector are inadvertently implemented in to these control methods this could lead to joint configurations that amplify the resulting joint torque. The proposed control method is verified through two different case studies. The first case study involves simulation of high-pressure blasting. The second is a simulation of a manipulator lifting and moving a heavy object. The results show that the proposed control method reduces overall joint torque compared to conventional methods. Furthermore, the joint torque is minimized such that there is potential for a manipulator to execute certain tasks beyond its nominal payload capacity.
机译：在本文中，开发了一种控制方法，用于最小化冗余机械手上的关节扭矩，其中外力在末端执行器上作用。使用空空格控制，冗余任务旨在最小化反对外力所需的扭矩，并降低动态扭矩。此外，可以将关节运动加权于物理限制，例如关节限制，碰撞避免等。用于关节扭矩最小化的传统方法仅考虑操纵器的内部动态。如果在这些控制方法中无意中实施在末端效应器上的外力，这可能导致扩增所产生的关节扭矩的联合配置。通过两种不同的案例研究验证了所提出的控制方法。第一种案例研究涉及仿真高压爆破。第二个是操纵器升降和移动重物的模拟。结果表明，与常规方法相比，所提出的控制方法减少了整体关节扭矩。此外，关节扭矩最小化，使得机器人有可能执行超出其标称有效载荷容量的某些任务。

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