论文标题
用于组装任务的非对角性刚度矩阵的设计
Design of non-diagonal stiffness matrix for assembly task
论文作者
论文摘要
合规性控制是一种在机器人场中使用的越来越多的技术。众所周知，可以根据刚度矩阵的设计来复制各种机械性能，但是利用这种高度设计自由的设计理论尚未阐明。因此，本文讨论了刚度矩阵的非对角性元素。我们根据实现稳定运动所需的条件提出了一种设计方法。此外，我们分析了非对抗元素响应外力诱导的位移，发现要获得与对称矩阵的稳定接触，矩阵应为正定义，即所有特征值必须为正，但是其参数设计很复杂。在这项研究中，我们专注于在合规控制中使用不对称矩阵，并表明可以使用三角矩阵来简化特征值的设计。这种方法扩大了刚度设计的范围，并增强了合规性控制诱导运动的能力。我们使用刚度矩阵进行了实验，并确认没有复杂的轨迹计划可以实现组装。
Compliance control is an increasingly employed technique used in the robotic field. It is known that various mechanical properties can be reproduced depending on the design of the stiffness matrix, but the design theory that takes advantage of this high degree of design freedom has not been elucidated. This paper, therefore, discusses the non-diagonal elements of the stiffness matrix. We proposed a design method according to the conditions required for achieving stable motion. Additionally, we analyzed the displacement induced by the non-diagonal elements in response to an external force and found that to obtain stable contact with a symmetric matrix, the matrix should be positive definite, i.e., all eigenvalues must be positive, however its parameter design is complicated. In this study, we focused on the use of asymmetric matrices in compliance control and showed that the design of eigenvalues can be simplified by using a triangular matrix. This approach expands the range of the stiffness design and enhances the ability of the compliance control to induce motion. We conducted experiments using the stiffness matrix and confirmed that assembly could be achieved without complicated trajectory planning.
