지능제어를 이용한 평면 여자유도 매니퓰레이터와 환경과의 상호작용에 관한 연구

Abstract

There are many tasks which require robotic manipulators interaction with environment. It consists of three control problems, i.e., position control, impact control and force control. The position control means the way of reaching to the environment. The moment of touching to the environment yields the impact control problem and the force control is to maintain the desired force trajectory after the impact with the environment. These three control problems occur in sequence, so each control algorithm can be developed independently. Especially for redundant manipulators, each of these three control problems has been important independent research topic. For example, joint torque minimization and impulse minimization are typical techniques for such control problems. The three control problems are considered as a single task in this paper. The position control strategy is developed to improve the performance of the task, i.e., minimization of the individual joint torques and impulse. Therefore, initial conditions of the impact control problem are optimized at the previous position control algorithm. Such a control strategy yields improved result of the impact control. Similarly, the initial conditions for the force control problem are indirectly optimized by the previous position control and impact control strategies. The force control algorithm uses the individual joint torque minimization concept. It also minimizes the force disturbances. The simulation results show the proposed control strategy works well.