Hybrid Force and Position Control Strategy of Robonaut Performing Object Transfer Task

Transcription

1 MAEC Wb of Confns 160, (018) Hybd Fo and Poston Conto Statgy of Robonaut Pfomng Objt ansf ask Gang Chn, YuQ Wang, Qnguan Ja and PLn Ca Shoo of Automaton, Bjng Unvsty of Posts and ommunatons, Bjng , Chna Abstat. hs pap poposs a oodnatd hybd fo/poston onto statgy of obonaut pfomng objt tansf opaton. Fsty, th onstant atonshps btn obonaut and objt a psntd. Bas on thm, th unfd dynam mod of th obonaut and objt s stabshd to dsgn th hybd fo/poston onto mthod. h movmnt, th ntna fo and th xtna onstant fo of th objt a onsdd as th onto tagts of th onto systm. Fnay, a MALAB smuaton of th obonaut pfomng objt tansf task vfs th otnss and fftvnss of th poposd mthod. h suts sho that a th tagts an b onto auaty by usng th mthod poposd n ths pap. h psntd onto mthod an onto both ntna and xtna fos h mantanng onto auay, hh s a ommon onto statgy. 1 Intoduton h ompxty and dffuty of spa mssons nas aongsd th dpnng of human xpoaton about spa. hfo, a n typ of spa obot ad obonaut s dsgnd to da th ths stuaton, and t an b usd to assst o pa th human astonauts to ay out th onobt opaton tasks n od to du th astonauts okng pssu and th ost of spa opatons. h obonaut onsst of th banhs, n hh on s gnay ad th oupd toso h th oth to a obot ams. Du to th xstn of dundant ams, ts fxbty, opaton abty, opatng ang and oth aspts of pfoman a fa btt than sng am obot, and ts oodnaton abty and onto auay a sgnfanty mpovd ompad th th mut obot baus of th xstn of oupd toso. h obonaut, th ts stong oaboaton and d opatng ang, an ffnty and aby assst astonauts n pfomng many onobt opatons, nudng matng, tstng, handng, ompx pats assmbng and spa staton mantnan t. As a typa dua am oodnaton task, objt tansf s psntatv n obt opaton, so t s of gat sgnfan to study th oodnatd opaton mthod n th poss of objt tansf. h poston onto statgy s dffut to mt th umnts of th ntaton btn th obot and th nvonmnt hn th obonaut pfoms oodnatd manpuaton tasks. o fny pfom th gvn task, ompan onto mthod s nssay hh mans t s vta to onto th nssay opaton fo n th oodnatd manpuaton tasks, as as mt th undsab fo to th systm manh. h a sva man manns of duaam oodnat opat onto thnu, suh as mpdan onto[1], hybd fo/poston onto [34], ntgnt onto[56]. h hybd fo/poston onto mthod s atvy smp and dos not y on nvonmnta nfomaton. Bsds, th auay of ths mthod s atvy hgh than oth mthods. Gvn ths, th hybd fo/poston onto mthod s adoptd n ths pap. A numb of vant sahs hav bn ad out hh onnng th hybd fo/poston onto dung th posss of objt tansf. C. V. Abhsfd [7] anayzd th atonshp n to obots hodng a sng objt by ntodung a onpt of vtua stk, and thn thy psntd a symmt nonmast/sav hybd poston/fo oodnatd onto shm usng th uatons hh dv fom vtua stk. A. I. unsk [8] xtndd an atv ompan onto shm hh s apab of adjustng ts paamts to th unknon systm ompan. Futhmo, a gna mod as dvd by dsussng dffnt ontat ass of th objt. Hov, a th mthods mntond abov xstng th foong dfns: fsty, ths ats oud not ahv th xtna fo ompan onto ony onsdng th ntna fo hn th objt s subjtd to xtna fo, hh may aus th fau of ompan onto. Sondy, som of th mthods dty dvd th objt nto to pats and thn fxd on th nd of ah manpuato. In ths ay, a ath btt smuaton suts an b obtand, but ths mthods a mtd to thota anayss and a not sutab fo pata opaton. Fo th dfns abov, mo spf study b ad out n subsunt hapts. Spfay, n hapt II, th onstant atonshps btn obonaut h Authos, pubshd by EDP Sns. hs s an opn ass at dstbutd und th tms of th Catv Commons Attbuton Lns 4.0 (

2 MAEC Wb of Confns 160, (018) MAEC Wb of Confns and objt b psntd. hn, n hapt III, th unfd dynam mod of th obonaut and objt s gong to b stabshd to dsgn th hybd fo/poston onto mthod. Moov, a smuaton study b mpmntd to vfy th agothm onto n hapt IV. Fnay, th omphnsv v and summay b don n th fna hapt. Dynam modng h stutu of obonaut studd n ths pap s shon n Fgu 1. It onssts of th banhs: th oupd toso banh (banh 1) and to am banhs (banh and banh 3). Gnay, on nd of th oupd toso banh s fxd at th bas, th oth nd s onntd th th oot of th to am banhs. h nds of th ams a f to mov to ompt th opatona tasks. Assum that banh 1 has n 1 DOF, banh and banh 3 hav n DOF and n3 DOF sptvy. (3) h fo onstant atonshp s shon n Fgu 3. h output fos of ft and ght ams, th xtna onstant fo of obonaut systm a,, f F f n, and tansat thm to O, namd as,, th pont F f n f. h sutant fo of th objt an b xpssd as F WF F (4) h W E E, 6 6 ft f F [ F, F ]. O p O p O p Z0 ght z y x z y x O0 Y0 0 Fgu. h oodnatd mod of objt tansf opaton. banh ( n1 n) ( n1 n 1) ( n1n31) ( n1 n3) banh3 f f O f onstant ( n1 1) ( n1 1) f O p O p f p n f f t x t n1 y t ft n f p n O n Z0 ght banh1 0 O0 Y0 0 z 0 1 y 0 Fgu 3. h fo mod of objt tansf opaton. bas x 0. Dynam mods Fgu 1. h stutu of obonaut.1 Constant atonshps Fgu shos th oodnatd mod of objt tansf opaton. Pont O s th mass of th objt and th objt fam s attahd at t. Fo smpty, t us gno th sz of objt, and tansat th ogns of th ft and ght ams nd fams to th pont O, namd as O,. Whn assum that th stffnss of th objt s ag nough to gno th dfomaton, th pos onstant btn obonaut and objt an b ttn as P P P (1) R R R R R h voty onstant an b ttn as () h aaton onstant an b ttn as In ths pap, ntnd to us th movmnt, th ntna fo and th xtna onstant fo of th objt as th onto tagts of th onto systm. Fsty, th dynam mods of th objt and th obonaut a stabshd. Bas on thm, th unfd dynam mod s onstutd, hh mans th objt and th obonaut as a ho...1 Objt dynam mod h dynam uaton of objt s gvn by usng th NtonEu uaton m v f (5) I I n h m, I psnt th objt s mass and nta tnso, sptvy. Euaton (5) an b ttn as F M C (6) h M m E I, C 031. I

3 MAEC Wb of Confns 160, (018) Robonaut dynam mod h voty of th nds of th ams an b ttn as v,,, h v and a th na and angua voty sptvy. By dffnta knmats, t an b obtand that h, [ v, ] =J J1, J v =J J J [, ] 1, 3 J psnt th Jaoban matxs of th ft and ght manpuatos sptvy. Aodng to uaton (7), th knmats uaton an b thus ttn as (7) 1 0 6n 3 J J J J1 06 n J 3 1n n n h J R 1 3 psnts th Jaoban matx of th obonaut. Fom uaton (8), an gt J J J J h J psnts psudonvs of J. By usng LagangEu mthod, th dynams of th obonaut n jont spa oodnats suggstd n ths pap an b dsbd as foos m n (8) (9) A BCDJF (10) h nta matx. A s an n n symmt postv dfnt A psnts th nta fos vto. B s an nnn 1 / Coos matx. B psnts th Coos fos vto. m n s an n n ntfuga matx. ntfuga fos vto. C C psnts th D s an n 1 gavtatona matx. In addton, n n1 n n3. Substtutng (9) to(10), th dynams of th obonaut n Catsan spa oodnats an b dsbd as Wh M C F U (11) M J AJ C J B mn C D MJ U J..3 Robonaut systm unfd dynam mod Fom(4), th output fo of obonaut an b obtand as 1 F W F F E WW f W M C W Ff WF (1) 1 h fst tm on th ght sd of th uaton, psnts th dvng fo of obonaut on th objt, h W [ E6, E 6]. h sond tm on th ght sd of th uaton, psnts th xtna onstant fo of obonaut systm. 3 h thd tm on th ght sd of th uaton, E WW psnts th nu spa of W, 1, psnts any 6 1 vto. Du to th haatsts of nu spa, an gt that WE1 WW, So, ths pat of fo podus th ntna fo of th objt. Aso, W E 6, E 6, F. Substtutng (3), (1) to (11), th unfd dynam mod s onstutd as h: UM C W F WF (13) s s f 3 Conto agothm Ms M W M Cs CW C (14) In ths pap, th ntna fo, th movmnt and th xtna onstant fo of th objt a onsdd as th onto tagts of th hybd fo/poston onto systm. o smpfy th pobm, th ntna fo at th mass nt of th objt an b hosn n objt tansf opaton task. h poston onto a of objt an b dsgnd as S d Kd d Kp d (15) h d, d and d psnt th dsd pos, voty and aaton sptvy. K p, K d a dvatv and popotona fdbak gans sptvy. S s an 6 6 postonstng matx. h xtna onstant fo onto a of th obonaut systm an b dsgnd as Ff S Ffd Kpf Ffd Ff Kdf Ffd F f (16) h F fd psnt th dsd xtna onstant fo. K pf, K df a dvatv and popotona fdbak gans sptvy. S s an 6 6 fostng matx. 3

4 MAEC Wb of Confns 160, (018) MAEC Wb of Confns d d d Poston& ontaton onstant K p K d, S, Spd onstants M s foad knmats Cs, J m m Ffd K pf dffnta Kdf S F f W J Robot systms F f F F d K pf dffnta K df F W Fgu 4. Hybd fo/poston onto stutu of obonaut. Z 7 O 6 Z 6 Z 6 6 O Z Z5 Z Z3 Z 1 Z Z Z Z Z1 Z 1 Z 1 Z 1 0 Z 0 Fgu 5. DH fams of obonaut n smuaton. 0 O 0 Y 0 h ntna fo onto a of th objt an b dsgnd as F F K F F K F F (17) d p d d d h F d psnt th dsd ntna fo. Substtutng(15), (16) (17) to (13) t an b obtand that th onto jont tou 4 Smuaton Study h obonaut nvovd n ths smuaton s shon n Fgu 5. h oupd toso has otaton jonts and th to ams both hav 7 otaton jonts. h DH paamts of th obonaut a std n ab 1. ab 1. DH paamts of th obonaut n smuaton. / ad 1 a /m 1 / ad d /m t t π/ 0 π/ 0 a1 π 0.3 π 0. a π/ 0 π/ 0.15 a3 π/ a a J Ms S d Kd d Kp d C W S F K F F K F F s fd pf fd f df fd f W F K F F K F F d p d d d (18) h poposd onto stutu s shon n Fgu 4. / ad 1 a /m 1 / ad d /m a6 π/ 0 π/ 0.15 a7 π/ 0 π 0. a π 0. a π/ 0 π/ 0.15 a3 π/ a a a6 π/ 0 π/ 0.15 a7 π/ 0 π 0. h task nvovd n ths smuaton s that th obonaut hods an objt to tmna pont aong a dsd a tajtoy on th onstant sufa. Assumng that th adus of th a s 0.1m, and th objt must man n ontat th th onstant sufa dung th movmnt. St th tota onto tm to b 10s. 4

5 MAEC Wb of Confns 160, (018) Assumng that th onstant sufa s paa to th nta fam yoz pan. h ogn of th onstant fam s st at th nt of th a tajtoy. hn th homognous tansfomaton matxs psntng th poss of onstant fam th spt to nta fam s R =[0, 0, 1; 1, 0, 0; 0, 1, 0]. 0 h nta poston of objt s P _nt =[0.5m, 0.1m, 1.5m], th ospondng jont ang s t 0 =[1.34, ], 0 =[47.09, 131.0, , 94.48, , , ], 0 =[53.89, 14.63, , 90.40, 15.17, , ]. h dsd ntna fo s st as 0 61, th dsd xtna onstant fo s st as 061. Appy th agothm mntond abov to ths as, thn th tajtoy, th ntna fo and th xtna onstant fo of th objt sut to b Fgu 6, Fgu 7 and Fgu 8 sptvy, hh vfs th fftvnss of th agothm dsussd n ths pap. Fgu 8. h xtna fo of th objt. 5 Conuson hs pap poposs th oodnatd hybd fo/poston onto statgy of obonaut pfomng objt tansf opaton. h onstant atonshp btn to manpuatos and objt s psntd at fst. Aftad th unfd dynam mod of th obonaut and objt s stabshd to dsgn th hybd fo/poston onto mthod of th obonaut. h movmnt, th ntna fo and th xtna onstant fo of th objt a onsdd as th onto tagts of th onto systm, thby ahvng smutanous onto of th ntna fo and th xtna fo of th objt. Fnay a smuaton study vfs th fftvnss of th agothm. Rfns Fgu 6. h tajtoy of th objt. Fgu 7. h ntna fo of th objt. 1. Y L. Km, B S. Km, J B Song. IEEE CASE., 1074(01). J. Lu, J P. Yan, J J. Chn. Con ho & App. 0(1), 85(003). 3. W F. u, R. Zhou, D S. Mng. Jouna of Astonauts, 34(10), 1353(013). 4. K. Zhang, Q. W, W S.Chang. ROBO, 4(1), 44(00). 5. S. Ln, A K. Huang. J Int Rob Syst ho App, 19(4), 393(1997). 6. A. A. G. Sua, M. H. a. ACC, 17(3), 418(009). 7. C V. Abhsfd, H. o. Conto Eng. Pat., 10(), 165(00). 8. A I. unsk, M K. Vukobatov, G M. Dm. Aou Sp & Sg Po Ns. 15(4), 385(001). 5