Control System of a Manipulator of the Anthropomorphic Robot FEDOR

A. Bogdanov, E. Dudorov, A. Permyakov, A. Pronin, I. Kutlubaev
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引用次数: 10

Abstract

The creation of technical objects which can replace a human when working in an unfriendly environment is an urgent problem. It is most rational to use anthropomorphic robots (AR) in these conditions. Due to the practical kinematics of the human body and the robot, it is able to use the appropriate infrastructure fully. The functioning of the AR in a non-deterministic environment determines the need to control and monitor the actions performed directly by an operator. Whereby it is necessary to solve two problems: the generation of control signals and evaluation of their working off by the AR. Due to the significant number of degrees of freedom of the AR, it is possible to do with the use of a set up copying-type device (ZUCT). The ZUCT is based on a lever system with a structural scheme identical to the human body. It allows to register through encoders movements in joints correctly and to provide generation of AR control signals. The AR is equipped with force sensors for solving the second problem. The loads registered with the use thereof are transmitted to the ZUCT equipped with a system of active drives. It allows to create loads on the body parts of the operator proportional to the loads in the kinematic pairs of the AR. The effectiveness of the developed control system was determined during the working off by the AR “FEDOR" control operations. Their full and unconditional execution with a satisfactory speed allows to claim that the copying control mode is the most rational today. Further improvement of this type of control system is possible due to reducing the weight of the set up device. The submissions reflected the major aspects taken when designing the control AM using ZUCT. For the first time, on the basis of fully implemented technical solutions, the overall, mass parameters of exoskeletons, specifications of the main used units are defined and presented. The feasibility of force-moment feedback allowing the operator to control the interaction of AR links with external objects is confirmed. The complete set of sensors and actuators used in the creation of ZUCT confirms, on the basis of the experimental studies, their sufficiency and the possibility of their use in the creation of new variants of control systems.
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拟人机器人费多机械手的控制系统
在不友好的环境中工作时,创造可以代替人类的技术对象是一个紧迫的问题。在这些条件下使用拟人机器人(AR)是最合理的。由于人体和机器人的实际运动学,它能够充分利用适当的基础设施。AR在不确定环境中的功能决定了需要控制和监视操作员直接执行的操作。因此,有必要解决两个问题:控制信号的产生和AR对其工作的评估。由于AR的自由度很大,可以使用设置的复制型设备(ZUCT)。ZUCT基于杠杆系统,其结构方案与人体相同。它允许通过编码器在关节中正确注册运动,并提供生成AR控制信号。AR配备了力传感器来解决第二个问题。使用它登记的负载被传输到配备有主动驱动器系统的ZUCT。它允许在操作员的身体部位上创建与AR运动对中的负载成比例的负载。在AR“FEDOR”控制操作的工作过程中确定了开发的控制系统的有效性。它们以令人满意的速度完全无条件地执行,可以声称复制控制模式是当今最合理的。进一步改进这种类型的控制系统是可能的,因为减少了设置设备的重量。提交的意见反映了使用ZUCT设计控制AM时采取的主要方面。在全面实施技术方案的基础上,第一次定义并提出了外骨骼的总体质量参数、主要使用单元的规格。验证了力力矩反馈的可行性,使操作者能够控制AR链路与外部物体的相互作用。在实验研究的基础上,用于创建ZUCT的整套传感器和执行器证实了它们在创建新的控制系统变体方面的充分性和使用它们的可能性。
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