An Advanced Manipulation for Space Redundant Macro-Micro Manipulator System

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1 6 (5..9) 6 An Advanced Manipulation for Space Redundant Macro-Micro Manipulator System Kazuya Yoshida, Hiromitsu Watanabe * *Tohoku University : (Macro-micro manipulator system) (Flexible base), (Vibration suppression) (Reaction null-space), (Singularity-consistent method) : Tel.: () Fax.: () hiro@astro.mech.tohoku.ac.jp. (ISS) SSRMS (Space Station Remote Manipulator System) ISS 6 (JEM : Japanese Experimental Module) JEMRMS (JEM Remote Manipulator System) (Fig.) ISS JEMRMS )

2 [ H b H T bm H bm H m ][ ẍb φ ] [ ] [ K b x b [ ] [ F b Jb T = τ J T m c b c m ] ] F h () c b R 6 : c m R 6 : F b R 6 : F h R 6 : fi R n : Fig. Japanese experimental module (JEM) Eq.() Fig. Flexible Base k b. c b M b Micro Manip. Fig. Mechanical model of the macro-micro manipulator system Fig. Link Link Flexible Base. Macro Manip. Micro Manip. Fig. Fig. Model of the macro-micro manipulator system ẋ b φ ). H b R 6 6 : H m R n n : H bm R 6 n : Fig. System configuration

3 Eq.() M b ẍ b c b ẋ b k b x b = f b () M b : k b : c b : ẍ b, ẋ b, x b : f b :. Fig.5 x b. Eq.() φ ) φ = GH bm x b (E H bm H bm)ζ () G ( ) Macro Arm (Flexible Base) Impedance Model Mbs cbskb Xb ζ n (E H bm H bm) H bm (reaction null-space) Eq.() F/T Sensor Fb Micro Arm Motion Fig. 5 Block diagram of the impedance F/T f b Eq.() ẍ b f b x b Eq.() G(s) = X b F b = M b s c b s k b () ζ ζ Eq.(5) J ẋ d e Fig.6 ζ = {J ( E H bm H bm) ( ) } ẋ d e JGH bm x b (5) f b Eq.()

4 Vibration suppression )) G Hbm xb d d xe,xe xe xe Kp Kd E-HbmHbm Reaction null-space Reactionless motion Fig. 6 Block diagram of vibration suppression. Eq.() Eq.(5) ζ Eq.(6) ζ = {J ( E H bm H ) bm } ( A b K a ) ( ẋ d e JGH bm x b ) (6) A b K a.5 ) ) Eq.(8) Eq.(7) Eq.(8) φ = GH bm x b (E H bm H bm)ζ (det(j) >.) (7) φ = σb adj(h T bm H bm)u r (det(j) <.) (8) σ : b : u r : detj Eq.(8) adj(h T bmh bm )u r (detj) b.6

5 Fig.7 w Eq.(9) (Fig.9) Micro arm (Modular arm) Force/Torque sensor w = det (JP rns ))(JP rns )) T (9) Macro arm (PA) P rns = E H bm H bm Fig. 8 Overview of the macro-micro manipulator system k bx Mb c bx k by y Linux, RT-Linux c by x PA Fig. 7 A example of the singular configuration in the reaction null-space Table Experimental condition of the macro part Manipulability Initial configuration (Fig.9).9 Singular configuration (Fig.7) Fig.8 Fig. Fig.8 7 PA ) PA F/T. Fig.9 x-y x-y Table, Table 5

6 , [s] y (Fig.9 ).. Fig., Fig. k bx F M b Joint 5 [deg] Joint [deg] Joint 5 [deg] Joint 5 [deg] y c bxkby c by x.. Fig., Fig. Fig. 9 Experimental model of the macro-micro manipulator system (Joint angles are initial state) Table Experimental condition of the macro part Mass M b Stiffness k b Damping c b. [kg].9 [N/m]. [Ns/m].. Fig. Fig.7 Table Specfication of the micro arm ( link) Mass Length.5 [kg].78 [m] Fig. Fig.5 Fig.6 [s] [deg] Fig.7... Fig. ± [cm]. Table Table [Ns] [s] 6

7 Fig. Motion profile of the flexible base Fig. Motion profile of the flexible base with vibration suppression Fig. Motion profile of the flexible base with vibration suppression, reactionless endtip position and singularity-consistent method y axis deflection [cm-] Fig. 5 Motion profile of the endtip with vibration suppression, reactionless endtip position and singularity-consistent method joint angle [deg] joint joint joint joint 5 6 Fig. Motion profile of the flexible base with vibration suppression and reactionless endtip position VS RNS 5 6 Fig. Motion profile of the endtip with vibration suppression and reactionless endtip position Fig. 6 Motion profile of joint angles with vibration suppression, reactionless endtip position and singularity-consistent method angular velocity [rad/s].6 joint.5 joint joint. joint Fig. 7 Motion profile of angular velocities with vibration suppression, reactionless endtip position and singularity-consistent method

8 5 5 5 led variable VS RNS Fig. 8 Motion profile of the endtip with vibration suppression and reactionless endtip position led variable VS RNS Fig. 9 Profile of led variables of the micro arm with vibration suppression and reactionless endtip position Fig. Motion profile of the flexible base with weighted vibration suppression and reactionless endtip position deflection [cm] x axis y axis Fig. Profile of led variables of the micro arm with weighted vibration suppression and reactionless endtip position.. Fig.8 Fig. Fig.8 Fig.9 Eq.(5) [cm] Fig. Fig. ζ Fig. Motion profile of the endtip with weighted vibration suppression and reactionless endtip position 7 PA 8

9 ) D.N.Nenchev, K.Yoshida, P.Vichitkulsawat M.Uchiyama, Reaction Null-Space Control of Flexible Structure Mounted Manipulator Systems, IEEE Transactions on Robotics and Automation, vol.5, no.6, December 999. ) D.N.Nenchev, Y.Tsumaki, Motion Analysis of a Kinematically Redundant Seven-DOF Manipulator Under the Singularity-Consistent Method, Proc. of the IEEE International Conference on Robotics and Automation, pp , September, -9,. ) D.N. 6 vol.6, No., pp ) 5 P-S-5, 5 9

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