産業用ロボットの操作性と軌道制御(第 1 報)

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Industrial robots have been applied in many fields. So far these robots have been controlled by the ”Point to Point” or ”Continuous Path” control methods. At the present stage, robot manipulators with finer performances at high speed and accuracy are required; therefore, we must consider the control method, taking into account the dynamics of robots. In this report, we used ”Move Master II” (Mitsubishi Electric Works) as our sample and made the equations of dynamics based on Lagrangian's equations. As for the experimental system, we composed a software servo system by feedback control of the positions with compensation of the non-linear terms (Coriolis and centripetal forces). Basically, we can not ignore the effects of Coriolis and centripetal forces when the manipulator moves at high speed. But in the case of lower speed operation, the influence of these non-linear terms became small. Therefore, this time, we composed the servo system by ignoring the effects of the non-linear terms. Usually, though ”Move Master II” has five links, as the first step, we performed the simulation experiments of trajectory control of two links (link1 and link2) with the feedback of the information of the positions. First, to analyze the robot's movement, we examined the singular points and the extent of manipulation ability with the term ”measure of manipulatability” of the arms (link1 and link2) by using a Jacobian matrix of the small displacement of each joint. We performed the simulation of the trajectory control with the method described above. Through the simulation experiments, we could obtain a good response (trajectory) compared with the reference trajectory by regulating feedback gains and, as a result, the availability of the proposed control method was confirmed.

産業用ロボットの操作性と軌道制御(第 1 報)

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