マクローマイクロシステムによるフレキシブルアームの準静的軌道制御

抄録

In this paper, a macro-micro manipulator system is proposed to realize the trajectory tracking control of a flexible manipulator system. This system has a flexible manipulator as a macro part and a rigid small manipulator on macro's tip as a micro part. A flexible manipulator can move in wide range of space while can not realize precise tracking purpose. The micro manipulator is then used to compensate the tracking eror due to the deformation of the macro manipulator. First, the concepts of compensatability and compensatability measure for the macro-micro manipulator system are introduced. Second, considering the redundancy of the system, path planning is discussed to keep the compensatability measure as large as possible during the whole work phase. Then, a quasi-static trajectory tracking control system is proposed to realize the planned path. Simulation results show the effectiveness of the proposed method.