Control System of a Manipulator of the Anthropomorphic Robot FEDOR

Abstract

The creation of technical objects which can replace a human when working in an unfriendly environment is an urgent problem. It is most rational to use anthropomorphic robots (AR) in these conditions. Due to the practical kinematics of the human body and the robot, it is able to use the appropriate infrastructure fully. The functioning of the AR in a non-deterministic environment determines the need to control and monitor the actions performed directly by an operator. Whereby it is necessary to solve two problems: the generation of control signals and evaluation of their working off by the AR. Due to the significant number of degrees of freedom of the AR, it is possible to do with the use of a set up copying-type device (ZUCT). The ZUCT is based on a lever system with a structural scheme identical to the human body. It allows to register through encoders movements in joints correctly and to provide generation of AR control signals. The AR is equipped with force sensors for solving the second problem. The loads registered with the use thereof are transmitted to the ZUCT equipped with a system of active drives. It allows to create loads on the body parts of the operator proportional to the loads in the kinematic pairs of the AR. The effectiveness of the developed control system was determined during the working off by the AR “FEDOR control operations. Their full and unconditional execution with a satisfactory speed allows to claim that the copying control mode is the most rational today. Further improvement of this type of control system is possible due to reducing the weight of the set up device. The submissions reflected the major aspects taken when designing the control AM using ZUCT. For the first time, on the basis of fully implemented technical solutions, the overall, mass parameters of exoskeletons, specifications of the main used units are defined and presented. The feasibility of force-moment feedback allowing the operator to control the interaction of AR links with external objects is confirmed. The complete set of sensors and actuators used in the creation of ZUCT confirms, on the basis of the experimental studies, their sufficiency and the possibility of their use in the creation of new variants of control systems.