Coordination of Redundant Systems

摘要

The research described in here covers several phases of the design of a control211u001esystem for a robotic manipulator. The approach followed was: starting from a 211u001egiven system or setup, the system was studied and understood and this resulted in 211u001ea model, after which lowest level controllers could be designed. Given these 211u001elowest level controllers, higher levels of control were designed. A modular setup 211u001ewas pursued in crating the various control layers. This modular setup allowed the 211u001econtrollers to fit into the primitive based control system environment. The first 211u001estep towards controlling any system is to get to know its sensing and actuation 211u001ecomponents and the dynamics of the subsystems involved. Chapter 2 describes the 211u001eexperimental set-ups. The components described include: resolvers, LVDTs, a 6D-211u001eforce sensor and the transmission systems. Further, the mechanism of the robotic 211u001earm used for this research is studied and the software/hardware environment is 211u001edescribed. An improvement on the position measurement with resolvers which are 211u001econnected to the input axis of a transmission system is also presented. Chapter 3 211u001etreats the modeling of the actuators of the OCTOVERA. Using the models derived in 211u001echapter 3, lowest level joint controllers are implemented in chapter 4, in this 211u001ecase velocity controllers. The velocity controllers are created using discrete 211u001estate variable filters. A discussion of discrete state variable filtering is also 211u001epresented and attention is paid to the integration methods. In chapter 5 we 211u001ediscuss an alternative approach to the coordination of a number of subsystems, 211u001enot necessarily mechanically coupled. Chapter 6 presents a discussion on 211u001eredundant systems. This chapter also includes discussions on workspaces, 211u001ereachability analysis, inverse differential kinematics, singularities, and 211u001econstrained motion control within the context of redundant robotic systems. An 211u001eexperiment is described where the self-motion or reconfiguration of the OCTOVERA 211u001ewas realized. Further, several local criteria for redundancy utilization are 211u001ediscussed.