论文标题
使用机器人操纵器处理柔性光束的最佳开环策略
An optimal open-loop strategy for handling a flexible beam with a robot manipulator
论文作者
论文摘要
用机器人操纵器快速安全操纵柔性物体需要采取措施应对振动。现有方法要么增加任务执行时间，要么需要复杂的模型和/或其他仪器来测量振动。本文开发了一种基于模型的方法来克服这些局限性。它依靠一个简单的像摆状模型来对梁进行建模，开放环的最佳控制以抑制振动，并且不需要任何外观感受性传感器。我们通过实验表明，所提出的方法大大降低了残余振动 - 至少90％ - 并且在相同的执行时间内超过了常用的输入构图（IS）。此外，我们的方法还可以比振动抑制性能略有降低更快地执行任务。提出的方法促进了针对涉及动态操纵灵活对象的各种任务的新解决方案的开发。
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation to measure vibrations. This paper develops a model-based method that overcomes these limitations. It relies on a simple pendulum-like model for modeling the beam, open-loop optimal control for suppressing vibrations, and does not require any exteroceptive sensors. We experimentally show that the proposed method drastically reduces residual vibrations -- at least 90% -- and outperforms the commonly used input shaping (IS) for the same execution time. Besides, our method can also execute the task faster than IS with a minor reduction in vibration suppression performance. The proposed method facilitates the development of new solutions to a wide range of tasks that involve dynamic manipulation of flexible objects.
