JPH01252389A - Manipulator and its control method - Google Patents
Manipulator and its control methodInfo
- Publication number
- JPH01252389A JPH01252389A JP63080079A JP8007988A JPH01252389A JP H01252389 A JPH01252389 A JP H01252389A JP 63080079 A JP63080079 A JP 63080079A JP 8007988 A JP8007988 A JP 8007988A JP H01252389 A JPH01252389 A JP H01252389A
- Authority
- JP
- Japan
- Prior art keywords
- joints
- manipulator
- joint
- actuators
- actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000001133 acceleration Effects 0.000 claims abstract description 14
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 6
- 239000011159 matrix material Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 229910001369 Brass Inorganic materials 0.000 description 1
- 239000010951 brass Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S700/00—Data processing: generic control systems or specific applications
- Y10S700/90—Special robot structural element
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
Ｅ産業上の利用分野１
この発明はｎ自由度のマニピュレータアームの位置制御
をするだめの技術に関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application 1 This invention relates to a technique for controlling the position of a manipulator arm with n degrees of freedom.
人聞の手作業代行のため、多自由度のリンクからなるア
ームを有するロボットが［７１発され、人間の行う巧み
な動作を実現するため、位置制御が１ｊ４＾われている
。To replace human manual labor, a robot with an arm consisting of links with multiple degrees of freedom has been launched, and its position is controlled 1j4 in order to realize the skillful movements performed by humans.
［従来の技術］
マニピュレータの最も基本的なハードウェア上の構成は
、リンク機構の各関節に対しその関節を駆動する１個の
アクチュエータとその関節の回転マニピュレータは通常
各関節ぐ実ｔｆ的に独立の位置決め能力を持ら、マニピ
ュレータの自由１衰と７クチユエータの個数は一致する
。自由度の数に比べて、アクブ」■−タの数を減すこと
を目的としＣアクチュエータ数より多い自由度を制御り
゛る種々のｆ法が提案されているが、差動機構と対鍮物
の拘束による方法や、関節間に０Ｊ力伝達機構を設ける
方法等、機構に依存するｂのが中心である。[Prior Art] The most basic hardware configuration of a manipulator is one actuator for driving each joint of a link mechanism and a rotation manipulator for that joint, each of which is usually independent in terms of tf. It has a positioning ability of 1, and the number of free manipulators equals 1 and 7 cutuators. Various f-methods have been proposed to control more degrees of freedom than the number of actuators, with the aim of reducing the number of actuators compared to the number of degrees of freedom. The main method is b, which depends on the mechanism, such as a method using brass restraints or a method that provides a 0J force transmission mechanism between joints.
［発明が解決しようとする課題］
しかし、機構に依存する上記従来の方法はマニピュレー
タの構造を複雑にし、これにともなって、１ｌｌｌｉ格
が高価になりかつマニピュレータのΦｍを大きくするの
で、大きな駆動１ネルギーを必要とりる。[Problems to be Solved by the Invention] However, the above conventional method that relies on a mechanism complicates the structure of the manipulator, and as a result, the 1lli scale becomes expensive and the Φm of the manipulator becomes large. It takes energy.
このようなことからマニピュレータ関節のアクチュエー
タ類を減少さけ、大幅なコスト・ダウンを可能にし、ま
た関節を軽量化することがｎｌ能であり、アクチュエー
タの小型化、省１ネルギー化を可能とｔ、Ｈニビ・レー
タ及びその制御す法を提供することを目的とするもので
ある。For this reason, it is possible to avoid reducing the number of actuators in the manipulator joints, which makes it possible to significantly reduce costs, and also to reduce the weight of the joints, making it possible to downsize the actuators and save energy. The object of the present invention is to provide an H nibi rate and a method for controlling it.
［発明が解決しようとする課題］
以下では関節を回転関節として述べるが、直動関節につ
いても全く同様に適用できる。[Problems to be Solved by the Invention] In the following, joints will be described as rotary joints, but the invention can be applied in exactly the same way to prismatic joints.
この目的に対応して、この発明のマニピュレータｔユ、
ｎ自由度のマニピュレータであって、ｎ個の関節部を有
し、前配置個の関節部のうちのｋ個の関節部にアクチュ
エータを備え、残りｎ−に個（ｋ≧ｎ−ｋ）の関節部に
保持ブレーキを備えていることを特徴としている。Corresponding to this purpose, the manipulator of the present invention,
A manipulator with n degrees of freedom, having n joints, k of the joints disposed at the front, k joints equipped with actuators, and the remaining n- joints with actuators (k≧n-k). It is characterized by a holding brake at the joint.
また、この発明のマニピュレータの制御７Ｊ法は、ｎ自
由度のマニピュレータであって、ｎ個の関節部を有し、
前記ｎ個の関節部のうちのに個の関節部にアクチュエー
タを備え、残りｎ−に個（ｋ≧ｎ−ｋ）の関節部に保持
プレー４二を備えるマニピュレータの操縦方法であって
、前記保持ブレーキを解放した状態では関節間の動的干
渉によりアクチュエータを有する関節の１〜ルクまたは
力によって関節を有しない、蕾に角加速度また１ま加速
度を発生させて前記アクチュエータを有しない関節の角
度また１ｉ変位をＭ ｆｉｌｌ Ｌ、、前記保持ブレー
キを作動した状態ではアクチュエータを右する関節の角
度または変位を前記アクチ１■−タにより制ａｌｌする
ことを特徴としている。Further, the 7J method for controlling a manipulator of the present invention is a manipulator with n degrees of freedom, having n joints,
A method for operating a manipulator, comprising actuators in n joints among the n joints, and holding plays 42 in the remaining n- joints (k≧n-k), the method comprising: When the holding brake is released, the dynamic interference between the joints causes an angular acceleration or an acceleration to be generated in the bud that does not have a joint by the force or force of the joint that has an actuator, and the angle of the joint that does not have the actuator is generated. The actuator is also characterized in that when the holding brake is activated, the angle or displacement of the joint to the right of the actuator is controlled by the actuator.
１作用１
この発明のマニピュレータ及びマニピュレータの制御り
法では、ｋ個のアクチュエータのトルクによって保持プ
レー４を解放した状態で保持ブレーキのみの（ｎ−ｋ）
個の関節を含むに個の関節の角度を制御し、保持ブレー
キを駆動さＵた状態で残りの（ｎ−ｋ ）個の関節の角
度を制御し、これによってマニピ」レータのｆ先を（ｆ
怠の点から任意の点に移動させることができる。1 Effect 1 In the manipulator and manipulator control method of the present invention, when the holding plate 4 is released by the torque of the k actuators, the holding brake alone (n-k) is
The angles of the remaining (n-k) joints are controlled by controlling the angles of the remaining (n-k) joints, including the holding brake, and thereby the f tip of the manipulator is set to ( f
It can be moved from the idle point to any point.
［実施例］
以下、この発明の詳細を一実施例を示す図面について説
明する。[Example] Hereinafter, details of the present invention will be explained with reference to drawings showing an example.
形性・干渉性は各関節上に構成された１ノ一ボ機構に対
して外乱としで働く。この外乱トルクを補償することが
マニピュレータの制御にお６ノる主要な問題の一つとな
っている。ところが外乱トルクが発生するということは
、他の関節の運動によって、イれ自身はトルク発生能力
を持たない１′！１節の運動を引き起こすことができる
ということでもある。Shape and interference act as disturbances to the one-in-one mechanism constructed on each joint. Compensating for this disturbance torque is one of the major problems in manipulator control. However, the disturbance torque is generated by the movement of other joints, which means that it itself does not have the ability to generate torque1'! It also means that it can cause movement in one section.
この発明はアクチ１工二りを持たない受動関節を有する
マニピュレータを、このような動力学的干渉性を利用し
て制御する技術に関するものＣある。The present invention relates to a technique for controlling a manipulator having a passive joint without an actuator by utilizing such dynamic coherence.
まず、原理を説明する。First, the principle will be explained.
第１図において、１はマニピュレータである。In FIG. 1, 1 is a manipulator.
マニピュレーターは複数のリンクΩ（ｆｌ、 、 Ａ２
・・・Ω ）を関節Ｃ（Ｃ４，Ｃ２・・・Ｃｏ）で連結
したｎ自由度をなしている。先端のリンクΩ。はハンド
２となっている。複数の関節Ｃ（Ｃ，〜Ｃｏ）のうち、
任意のに個の関節Ｃ（Ｃ，・・・ｃｏ−２゜Ｃ）にはア
クチュエータＡ （Ａ、・・・Ａｊ・・・八ｋ）Ｃ（Ｃ
２・Ｃ１４１−Ｃｏ、）には保持ブレーキ−８（＋３１
・・・Ｂｏ−ｋ）が備えられている。The manipulator has multiple links Ω(fl, , A2
...Ω) connected by joints C (C4, C2...Co), forming n degrees of freedom. Tip link Ω. is hand 2. Among the multiple joints C (C, ~Co),
For any number of joints C (C, . . . co-2°C), actuators A (A, . . . Aj . . . 8k) C (C
2.C141-Co,) has a holding brake of -8 (+31
...Bo-k) is provided.
アクチュエータＡはそれぞれ隣り合うリンクを駆動して
相対位置、相対角速度、相対角加速Ｉｆを制御可能であ
る。The actuators A can control relative positions, relative angular velocities, and relative angular accelerations If by driving adjacent links.
保持ブレーキＢはそれぞれ隣り合うリンクの動きを制御
、解放可能である。Each holding brake B can control and release the movement of adjacent links.
ここでの制御対象をｎ自由度のマニピュレータとする。The controlled object here is a manipulator with n degrees of freedom.
そのうｊ５ｋ（≧ｎ／２）自由唯の関節Ｃは通常のマニ
ピュレータ同様、アクヂコ■−タΔとセン９′（図示せ
ず＞ｒ構成される能動関節とし、残りｎ−に自由度はア
クヂュ■−夕を持たず、保持ブレーキＢとセンｌｔのみ
からなる受動関節とする。In addition, the only joint C with j5k (≧n/2) freedom is an active joint composed of Akujiko ■ -ta Δ and Sen9' (not shown) > r, as in a normal manipulator, and the remaining n- degrees of freedom are - It is a passive joint consisting only of the holding brake B and the sensor lt without having a joint.
保持ブレーキＯＮの状態では受動関節は動かないため、
通常のマニピユレータと同じ方法に」：り能動関節がＭ
ｆｉｌｌできる。また保持ブレーキＯＦＦの状態では
受動関節は自由に回転するため、能動１１１ｆｌｆｌを
仙かりことにより発生する干渉トルクで間接的１受動ｎ
ｕｉカ制ｔｌｌｌ ’Ｑ キロ −Ｌ、 ｈ ラ２．：
、ｐ＞、ｒｌ ｔｉｔ’モードの組合せによりマニピユ
レータを任意の位置から任意の位置に移すＦＴＰ制御を
考える。Since the passive joint does not move when the holding brake is ON,
In the same way as a normal manipulator: the active joint is M
You can fill it. In addition, when the holding brake is OFF, the passive joint rotates freely, so the interference torque generated by the active 111flfl causes indirect 1 passive n
ui ka system tllll 'Q km -L, h la 2. :
, p>, rl tit' Consider FTP control in which a manipulator is moved from an arbitrary position to an arbitrary position by a combination of modes.
マニピュレータの運動方程式は次のように表わすことが
できる。The equation of motion of the manipulator can be expressed as follows.
Ｍ（Ｑ）句十ｈ （Ｑ、へ）＋ｒＱ十〇（ｑ）−τ・・
・（１）
但しｑは関節角、τは関節トルク、Ｍ（ｑ）は慣性行列
、ｈ （ｑ、ψ）は］リオリ・遠心ツバ［は粘性ｒＩＪ
擦行列、０（ｑ）はΦカを表わす。M (Q) phrase 10h (Q, to) + rQ 10 (q) - τ...
・(1) However, q is the joint angle, τ is the joint torque, M(q) is the inertia matrix, h (q, ψ) is] Rioli centrifugal collar [is the viscosity rIJ
The friction matrix 0(q) represents Φ power.
保持ブレーキＯＦＦの場合、受動関節のトルクはぜ口で
あるから、
τ−（τ 、τ 、・・・、τに、０．・・・、０）＝
（（τ’）’、０）ｔ ・・・（２）（注：
ベクトルで、ｑ等の要素１ｉ必ずしも関節の幾何学順序
通りに並んで・いない。）
（１）のｑ、伯に各関節でセン（すでπ１測された現在
値を代入すると、ｈ （ｑ、ｌ ＋ｒ匂ト０（Ｑ）は値
を求めることが゛（゛きて定数項となる。またＭ（Ｑ）
も定数行列となって（１）はτと１に関する連立１次方
程式とみなすことができる。ここ７．、、Ｆｑの要素の
うも受動関節をケベて含むに個を選んで目標値ψ−（φ
、・・・、ψ８） を与える。まだ残りのｎ −に個
をψ−（φ 、・・・、φ。−１どおき、慣性行列Ｍ（
Ｑ）のそれぞれに対応りる部分を
Ｍｌ （Ｑ）、Ｍ２ （ｑ）とすると（１）は、Ｍｌ
（ｑ）ψ−＋ｈ （Ｑ、ｑ） ト１＋ｇ （（１）−τ
−Ｍ２（Ｑ）φ
−Ａｘ ・・・（３
）但し
行列へが正則へらば（３）は解くことができ、ｘ＝Ａ
（Ｍｌ （ｑ）ψ十ｈ （ｑ、φ）＋［向上〇 （
ｑ） ３ ・・・（４）！Ｊ’ ／ｊ
わ朽アクチュ■−タトルクτ′及び目標（偵を与えられ
なかった関節の角加速１ｑφが求められる。When the holding brake is OFF, the torque of the passive joint is a gap, so τ-(τ, τ,..., τ, 0...., 0) =
((τ')', 0)t...(2)(Note:
In a vector, elements 1i such as q are not necessarily arranged in the geometric order of the joints. ) Substituting the current value measured by π1 at each joint into q and square in (1), it is possible to find the value of h (q, l + r). Also, M(Q)
is also a constant matrix, and (1) can be regarded as a simultaneous linear equation regarding τ and 1. Here 7. ,, select the elements of Fq including the passive joints and set the target value ψ−(φ
, ..., ψ8) is given. We still add pieces to the remaining n − by ψ−(φ , ..., φ.−1, and inertia matrix M(
Let the parts corresponding to Q) be Ml (Q) and M2 (q), then (1) is Ml
(q)ψ−+h (Q, q) t1+g ((1)−τ
−M2(Q)φ −Ax ...(3
) However, if the matrix is regular, then (3) can be solved, and x=A
(Ml (q) ψ tenh (q, φ) + [improvement〇 (
q) 3...(4)! J' /j
The rotating actuator torque τ' and the target (angular acceleration 1qφ of the joint for which no torque was given) are determined.
結局、ｋ個の能動関節のトルクによってｎ−に個の受動
関節を含むに個の関節の角加速度を制御１ｙることがで
きる。As a result, the angular accelerations of the k joints, including the n- passive joints, can be controlled by the torques of the k active joints.
〈制御アルゴリズム〉
ＰＴＰｌ＋１ＩＩＯ’ｌエルＷ合、第２図、ｆｌｌ及び
第４図に示すように、軌道を次の３つの区間にわける。<Control algorithm> As shown in FIG. 2, fl1, and FIG. 4, the trajectory is divided into the following three sections.
■、起動区間（０＜ｔ＜Ｔ１．保持プレー４−ＯＮ）■
、解放区間（Ｔ １＜ ｔ ＜ Ｔ ２ 。■, Starting section (0<t<T1. Holding play 4-ON)■
, release interval (T 1 < t < T 2 .
保持プレー１＝ＯＦＦ）
■、減速区間（Ｔ ２ ＜ ｔ ＜ ７３゜保持ブレー
キＯＮ）
このうらＨの区間において受！ＩＪｌ！１節を含むに個
の関節を目標軌道に沿って動かし、Ｔ、ｌ［［の区間に
おいて残りの関節を初期位置から目標位置まで動かす。Holding play 1 = OFF) ■, Deceleration section (T 2 < t < 73° Holding brake ON) Receive in this back H section! IJl! The joints including one node are moved along the target trajectory, and the remaining joints are moved from the initial position to the target position in the interval T, l[[.
■の区間にお１）る軌道とアクチュエータ出力は次のよ
うに決定される。The trajectory and actuator output in section 1) are determined as follows.
■受動関節をすべて含むに個の関節に対し■におＴｙ捧
角度ψ、角速度φ、角加速度ψの軌道を与え；□、、、
、：、＋：
る。（１０シ境界条件としてｔ＝Ｔ、、■、においてψ
−〇）
■残りｎ−に個の関節について、角麿ψ、角速ＩｎΦの
ｔ＝Ｔ１における値を与える。■Give a trajectory of Ty dedicated angle ψ, angular velocity φ, and angular acceleration ψ to ■ for each joint including all passive joints; □,,,
, :, +: Ru. (At t=T, , ■, ψ as a boundary condition of 10
-0) (2) For the remaining n- joints, give the values of the angle ψ and the angular velocity InΦ at t=T1.
■ｔ＝Ｔ１において（４）の計０を行い、アクテコ１−
タトルクτ′及び角加速度φを求める。■ At t=T1, perform the total 0 of (4) and actuate 1-
Determine torque τ' and angular acceleration φ.
■数値積分により次のリンブリング時刻における角速瓜
Φ、角１ｑφを求める。■ Find the angular velocity Φ and angle 1qφ at the next limbing time by numerical integration.
■（（４）の計ｔフ→数値積分ｌを反復し、■の全区Ｉ
Ｊ！ｉにわたってアクチュエータトルクτ′及び角加速
度ｑ、角速１哀内、角度ｑを決定する。■(Repeat the total tf → numerical integration l of (4), and all sections I of ■
J! Actuator torque τ', angular acceleration q, angular velocity 1, and angle q are determined over i.
制御を実行する際には次のようなフィードバック則を用
いる。■゛Ｃ与える角度、角速度、角加速度の目標値を
それぞれψ４．ψ０．ψ、とする。When performing control, the following feedback law is used. ■ Set the target values of the angle, angular velocity, and angular acceleration given by ψ4. ψ0. Let ψ be.
またセンサで計測された角度、角速度をψ、ψとする。Also, let ψ and ψ be the angle and angular velocity measured by the sensor.
ψ−ψ 十ζω。（ψ、−φ）
十ω （ψｄ−φ） ・・・（５）と
おき、この角加速度ψをアルゴリズムの■へ・■で用ツ
コ
Ｉ、Ｉ［ｌの区間におけるφの制御は通常のマニピュレ
ータと同一である。■の区間においては初期位置から■
で与える角度、角速度を目標値と４゛る制御を行う。ま
た■の区間においては目標位置においてφ＝０を目標値
とする制御を行う。ψ−ψ tenζω. (ψ, −φ) 10ω (ψd−φ) ...(5), this angular acceleration ψ is used in the algorithm's Same as manipulator. In the section of ■, from the initial position■
Control is performed using the angle and angular velocity given by 4 as the target value. Further, in the section (■), control is performed to set φ=0 as the target value at the target position.
以上のアルゴリズムによりマニピュレータの関節角ｑを
任意の初期位置から任意の目標位置まで動かすことがで
きる。The above algorithm allows the joint angle q of the manipulator to be moved from an arbitrary initial position to an arbitrary target position.
［発明の効果Ｊ
この発明では関節で連続したリンクをｈするマニピュレ
ータにおいで、ｒＪ［］節間の動力学的干渉を利用して
アクチュエータを有するｆｌ！節のトルクによってアク
チュエータを有しない関節に角加速度を発生させて角度
を制御するので、アクチュエータを右しない関節を伝達
機構を要Ｕず駆動することができ、マニピュレータ関節
の７クチ」エータ数を減すことができる。したがってマ
ニビル−タの構造が的中になり小型化、省エネルギー化
を８６′：８“” ９Ｐ７[Effect of the Invention J] In this invention, in a manipulator that creates continuous links at joints, fl! has an actuator that utilizes dynamic interference between rJ[] nodes. Since the angle is controlled by generating angular acceleration in the joint that does not have an actuator using the torque of the joint, it is possible to drive the joint that does not have an actuator without the need for a transmission mechanism, reducing the number of 7" actuators in the manipulator joint. can be done. Therefore, the structure of the manibuilter is on point, making it more compact and energy efficient.86':8''9P7
第１図はこの発明のマニピ」レータを示す正面説明図、
第２図１．ｔマニピュレータの運動を示す説明図、第３
図は￥ｌｆｆ１Ｍの角１ｑ線図、及び第４図は質ωＭの
角速度線図である。
１・・・マニピュレータ
Ａ （Ａ１〜Ａｋ）・・・アクチュー［−タ８ （８１
〜Ｂｏ−ｋ） ・・・保持ブレーキＣ（Ｃ，〜Ｃｏ）・
・・関節
′１図
第４図本
自
第２図
（ｎ・２め積令）
Ｉ ■ ■FIG. 1 is an explanatory front view showing the manipulator of the present invention;
Figure 2 1. t Explanatory diagram showing the movement of the manipulator, 3rd
The figure is an angle 1q diagram of ¥lff1M, and FIG. 4 is an angular velocity diagram of quality ωM. 1... Manipulator A (A1~Ak)... Actuator [-ta 8 (81
~Bo-k) ...Holding brake C (C, ~Co)・
...Joint '1 Figure 4 Book's Figure 2 (n/2nd order) I ■ ■
Claims (2)
部を有し、前記ｎ個の関節部のうちのｋ個の関節部にア
クチュエータを備え、残りｎ−ｋ個（ｋ≧ｎ−ｋ）の関
節部に保持ブレーキを備えていることを特徴とするマニ
ピュレータ(1) A manipulator with n degrees of freedom, having n joints, k joints among the n joints having actuators, and the remaining n-k joints (k≧n- k) A manipulator characterized in that the joint part is equipped with a holding brake.
部を有し、前記ｎ個の関節部のうちのｋ個の関節部にア
クチュエータを備え、残りｎ−ｋ個（ｋ≧ｎ−ｋ）の関
節部に保持ブレーキを備えるマニピュレータの操縦方法
であつて、前記保持ブレーキを解放した状態では関節間
の動的干渉によりアクチュエータを有する関節のトルク
または力によつて関節を有しない関節に角加速度または
加速度を発生させて前記アクチュエータを有しない関節
の角度または変位を制御し、前記保持ブレーキを作動し
た状態ではアクチュエータを有する関節の角度または変
位を前記アクチュエータにより制御することを特徴とす
るマニピュレータの制御方法(2) A manipulator with n degrees of freedom, having n joints, k of the n joints having actuators, and the remaining n-k (k≧n- k) A method of operating a manipulator having a holding brake on the joint, wherein when the holding brake is released, dynamic interference between the joints causes the torque or force of the joint with the actuator to act on the joint without the joint. A manipulator that generates angular acceleration or acceleration to control the angle or displacement of the joint that does not have the actuator, and that when the holding brake is activated, the angle or displacement of the joint that has the actuator is controlled by the actuator. control method
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63080079A JPH01252389A (en) | 1988-03-31 | 1988-03-31 | Manipulator and its control method |
| US07/325,926 US4928047A (en) | 1988-03-31 | 1989-03-20 | Manipulator and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63080079A JPH01252389A (en) | 1988-03-31 | 1988-03-31 | Manipulator and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01252389A true JPH01252389A (en) | 1989-10-09 |
| JPH0532197B2 JPH0532197B2 (en) | 1993-05-14 |
Family
ID=13708210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63080079A Granted JPH01252389A (en) | 1988-03-31 | 1988-03-31 | Manipulator and its control method |
Country Status (2)
| Country | Link |
|---|---|
| US (1) | US4928047A (en) |
| JP (1) | JPH01252389A (en) |
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| CN110238817A (en) * | 2019-06-20 | 2019-09-17 | 中山市煜豹智能设备有限公司 | Six-axis robot |
| CN112743541A (en) * | 2020-12-21 | 2021-05-04 | 南京埃斯顿自动化股份有限公司 | Soft floating control method for mechanical arm of powerless/torque sensor |
| CN112743541B (en) * | 2020-12-21 | 2022-03-04 | 南京埃斯顿自动化股份有限公司 | Soft floating control method for mechanical arm of powerless/torque sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0532197B2 (en) | 1993-05-14 |
| US4928047A (en) | 1990-05-22 |
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