受動力制御を用いた協調フレキシブルペイロード操作における振動抑制
Vibration Suppression in Collaborative Flexible Payload Manipulation Using Passive Force Control
2台の産業用ロボットアームをリーダー・フォロワー構成で用い、柔軟なペイロードの運動中の横振動を抑制する制御戦略を提案した。フォロワー側のアドミッタンス制御により外力に追従させ、エネルギー消散を保証する。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Alaa Abderrahim, Antonio Rosales, Ferdinando Milella, Markku Suomalainen, Shuai Li
分類: cs.RO, eess.SY
原文アブストラクト
In large and heavy structures, vibrations arise during motion, posing significant challenges for precise manipulation. To accomplish the desired motion, control algorithms must effectively suppress these structural vibrations. In cutting edge projects, such as remote maintenance of future fusion energy reactors (tokamaks), the manipulation of this type of structure is defined as a crucial task. This paper presents a control strategy to suppress transverse vibrations in flexible payloads during motion using a collaborative payload manipulation approach. Two different industrial robot arms are arranged in a leader follower configuration for the manipulation strategy. The leader robot guides the motion with shaped velocity commands, while the follower robot ensures compliance with the estimated external forces applied by the leader on the payload through an admittance controller. Unlike existing methods, the proposed approach enables collaborative manipulation of heavier and larger flexible objects, addressing additional challenges such as vibration suppression and heterogeneous robot specifications. The dynamics of the leader follower payload system are modeled using an equivalent mass spring damper model, and it is shown that, with appropriate admittance parameters, the total energy of the system is passively dissipated. A stability proof is also provided. Numerical simulations validate the proposed method, and experimental results demonstrate its effectiveness.