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利用闭环矢量法对五杆机构进行正运动学建模,给出了五杆并联机器人的闭环矢量方程,推导了其运动学方程,并用MATLAB软件编写MATLAB函数来求解运动学方程.利用Simulink仿真工具建立了五杆合作机器人的运动学仿真模型,仿真分析得到了运动学仿真曲线.研究过程表明,采用闭环矢量法对五杆并联机器人进行运动学分析既简便又快捷.这种方法对其他复杂平面并联机构的运动学分析具有一定的参考价值. 相似文献
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针对挖掘机器人工作装置的力/位控制这一热点课题,本文建立了挖掘机器人工作装置的运动学方程和动力学方程。在此基础上,推导出力约束空间的阻抗控制律,并把阻抗控制用于挖掘机器人工作装置的力/位控制。 相似文献
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机器人三维图形仿真系统中运动学方程建模方法的改进 总被引:5,自引:0,他引:5
机器人运动学方程的建模是三维图形仿真系统中的重要问题。本文提出了一种结合机器人形体。建模来建立机器人运动学方程新方法,并从机器人的图形示教和运动学逆诸方面对这一方法的优越进行了论述。 相似文献
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载体姿态可控的空间机器人系统关节角轨迹的自适应算法 总被引:3,自引:0,他引:3
考虑载体姿态可控的空间机器人系统的逆运动学问题,首先推导了空间机器人系统的运动学方程,得到了系统的广义雅可比阵,并证明了该雅可比阵可以表示为一组适当选择的惯性参数的线性函数.当这些惯性参数未知时,分别给出了由期望的手端轨迹产生期望角速度和角加速度的自适应算法.最后对二杆平面空间机器人系统应用文中算法进行了数字仿真,证明了算法的有效性。 相似文献
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载体姿态可控的空间机器人系统关节角轨迹的自适应算法北京航空航天大学七研马保离,霍伟讨论载体姿态可控的空间机器人系统的逆运动学问题。通过推导空间机器人系统的运言学方程,得到系统的广义雅可比阵,并证明该雅可比阵可以表示为一组适当选择的惯性参数&线性函数。... 相似文献
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针对肢体语言在传递非语言信息的过程中控制的复杂性,利用普通关节型机器人的运动学研究方法,对可视语音研究中的虚拟机器人进行了运动学分析,并为解决二者之间的差异引入了权值运算,从而推导出了虚拟机器人以肢体语言表达非语言信息的运动学方程.研究该虚拟机器人的运动学方法共分为三大步:第一步,利用D-H参数法求出各连杆机构的D-H参数表;第二步,根据参数表建立各个运动系统的运动学方程;第三步,利用权值选择适当强度级别的运动方程.实验表明,该分析方法在研究虚拟机器人随情感强弱变化而做出不同肢体反应的可视语音系统时,能够大大简化分析难度,优化控制.该方法不但适用于虚拟机器人,也同样适用于物理机器人的肢体语言控制,具有很强的实用性. 相似文献
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两柔性机器人协调操作的动力学模型及其逆动力学分析 总被引:23,自引:1,他引:22
柔性机器人动力学是当前机器人研究的热点,而其协调操作问题目前仍为空白.本
文首次建立了柔性机器人协调操作刚性负载的动力学模型,利用有限元法和Lagrange方程,
在柔性机器人协调操作的运动学和动力学协调约束条件基础上,推导出系统的动力学方程,
提出了其逆动力学问题的解决方案,并成功给出了平面两3R柔性臂协调操作的数值算例. 相似文献
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This article introduces a multi locomotion robot, MLR III, which has multiple locomotion types, i.e., not only brachiating but also walking. Conventionally we have studied dexterous locomotion robots and their controller design. One is a simplified two-link robot, Brachiator II. This is an example of an underactuated system in which a robot mechanism has more degrees of freedom than actuators. The desired motions are encoded as the output of a target dynamical system inspired by the pendulum-link motion of an apes brachiation. The other is a monkey-type robot, Brachiator III. Brachiator III achieves a dexterous motion using redundant degrees of freedom. The motion is generated in an empirical learning process on an intelligent structure, on which the learning algorithm coordinates some primitive motions to generate the desired motion. MLR III is an extended locomotion robot that has multiple types of locomotions: brachiation, bipedal walking, and quadrupedal walking, similar to a monkey or gorilla. This article introduces the mechanism and controller design for brachiating motion.This work was presented, in part, at the 8th International Symposium on Artificial Life and Robitics, Oita, Japan, January 24–26, 2003 相似文献
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In this paper, we present a method of determining optimal gaits for shape actuated locomotion systems. This method is the synthesis of techniques for computing reduced equations for robotic locomotion systems and a numerical optimal control strategy. Symmetry reduction processes induce a form of locomotion system dynamics that reveals a cyclic-like coupling between group, shape, and momenta coordinates. This form allows one to focus on designing gaits, abandoning concern over shape dynamics. Using this vantage point we indicate how a numerical optimal control method based on Gaussian quadrature may be acclimatized to periodicity, thus providing optimal gaits. The method is demonstrated by means of its application to a snake-like serial-link structure or snake robot. This application provides scientific merit to hypotheses concerning observed locomotion phenomena amongst animals employing undulatory propulsive mechanisms. 相似文献
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《Advanced Robotics》2013,27(2):205-224
Snakes perform many kinds of movement adapted to the environment. Utilizing the snake (its forms and motion) as a model to develop a snake-like robot, that performs the snake's function, is important for generating a new type of locomotion and expanding the possible uses of robots. In this study, we developed a simulator to simulate the creeping locomotion of the snake-like robot, in which the robot dynamics is modeled and the interaction with the environment is considered through Coulomb friction. This simulator makes it possible to analyze creeping locomotion with normaldirection slip, adding to the glide along the tangential direction. Through the developed simulator, we investigate the snake-like robot creeping locomotion which is generated only by swinging each of the joints from side to side and discuss the optimal creeping locomotion of the snake-like robot that is adapted to the environment. 相似文献
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从机器人的运动特征、稳态平均速度和波动特性3个方面,对仿蚯蚓移动机器人的离散步态控制策略和相位差控制策略进行比较研究.首先,通过学习蚯蚓的形态学特征,基于舵机-弹簧钢片复合结构,设计并制作了可以执行拮抗变形的仿蚯蚓机器人单元,并将其串联得到一个8单元仿蚯蚓移动机器人.以该机器人为平台,从理论和实验角度研究了机器人在离散步态控制和等相位差控制下的平均速度和运动特征.研究发现,对于2种控制策略,实验得到的平均速度都与理论预测定性吻合,但机器人单元在运动过程中有可能发生显著的向后滑动,使得实验得到的平均速度低于理论预测的平均速度.随后,从波传播的角度对2种控制策略进行了比较.2种控制策略都使得机器人单元的变形以波动的形式沿机器人进行传播,传播方向与机器人运动方向相反,与蚯蚓的后退蠕动波机理保持一致.对于离散步态控制,波传播的波形、波速、波长和周期都与步态参数密切相关;对于相位差控制,波形和周期都由作动规律决定,不能通过相位差进行调节,但波速和波长与相位差成反比.从控制效果来看,机器人在最优的等相位差控制模式下可以实现更高的平均速度,且与蚯蚓的连续特征保持一致,具有一定的优势. 相似文献
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Alessandro Crespi Andr Badertscher Andr Guignard Auke Jan Ijspeert 《Robotics and Autonomous Systems》2005,50(4):163-175
This article presents a project that aims at constructing a biologically inspired amphibious snake-like robot. The robot is designed to be capable of anguilliform swimming like sea-snakes and lampreys in water and lateral undulatory locomotion like a snake on ground. Both the structure and the controller of the robot are inspired by elongate vertebrates. In particular, the locomotion of the robot is controlled by a central pattern generator (a system of coupled oscillators) that produces travelling waves of oscillations as limit cycle behavior. We present the design considerations behind the robot and its controller. Experiments are carried out to identify the types of travelling waves that optimize speed during lateral undulatory locomotion on ground. In particular, the optimal frequency, amplitude and wavelength are thus identified when the robot is crawling on a particular surface. 相似文献
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《Advanced Robotics》2013,27(4):515-535
In this paper we explore the underlying principles of natural locomotion path generation of human beings. The knowledge of these principles is useful to implement biologically inspired path planning algorithms on a humanoid robot. By 'locomotion path' we denote the motion of the robot as a whole in the plane. The key to our approach is to formulate the path planning problem as an optimal control problem. We propose a single dynamic model valid for all situations, which includes both non-holonomic and holonomic modes of locomotion, as well as an appropriately designed unified objective function. The choice between holonomic and non-holonomic behavior is not accomplished by a switching model, but it appears in a smooth way, along with the optimal path, as a result of the optimization by efficient numerical techniques. The proposed model and objective function are successfully tested in six different locomotion scenarios. The resulting paths are implemented on the HRP-2 robot in the simulation environment OpenHRP as well as in the experiment on the real robot. 相似文献
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WANG ZhiFeng MA ShuGen LI Bin & WANG YueChao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China 《中国科学:信息科学(英文版)》2011,(2):318-333
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蛇形机器人本体是一种多关节串联机构,可以在各种环境中运动,并且当一端固定时可以实现操作.本文提出一种蛇形机器人移动与操作的统一动力学建模方法,统一蛇形机器人移动状态及操作状态的动力学方程.机器人从移动状态到操作状态的转换意味着机构上的重构,即移动状态无固定基座,而操作状态有固定基座.应用虚设机构法在机构学上统一这两种状态(即构形空间中的嵌入关系),利用指数积公式描述这两种状态的运动学方程.在Riemann流形上建立起蛇形机器人移动和操作的动力学模型,并在对动力学模型中各项计算分析的基础上发现机器人操作动力学方程可直接由移动动力学方程退化得到,同时应用子流形的Gauss公式给出证明.由此在微分几何框架下建立蛇形机器人移动与操作的统一动力学模型.按照几何的观点将蛇形机器人移动与操作动力学模型的统一看作是子流形问题,并赋予几何意义.较单独针对蛇形机器人的一种状态(移动或操作)的动力学模型而言,这种统一的动力学模型能够更深刻地揭示蛇形机器人动力学的特征. 相似文献
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The diverse locomotion modes and physiology of biological snakes make them supremely adapted for their environment. To model
the noteworthy features of these snakes we have developed a snake-like robot that has no forward direction driving force.
In order to enhance the ability of our robot to adapt to the environment, in this study we investigate the creeping locomotion
of a snake-like robot on a slope. A computer simulator is presented for analysis of the creeping locomotion of the snake-like
robot on a slope, and the environmentally-adaptable body shape for our robot is also derived through this simulator. 相似文献