基于宏-微机器人的不连续轨线的跟踪

针对宏-微机器人跟踪不连续轨线,本文采用轨线分割的方法．轨线分割的 结果,宏机械手的期望轨迹为一条连续轨线,轨线中的不连续部分将由微机械手跟踪;同时 ,宏-微机器人这一冗余系统变为两个非冗余系统,按照两个非冗余系统分别进行轨迹规划 ;微机械手除了完成分割的任务外,对宏机械手的轨迹误差在线补偿;4自由度宏-微机器 人仿真和实验证明了本文方法的有效性．     

移动机械手鲁棒自适应模糊控制

基于旋量理论建立了非完整移动机械手系统的动力学模型,通过反步控制技术,应用非线性参数化模糊逻辑系统设计了移动机械手的鲁棒自适应模糊控制器.该控制器放松了移动机械手控制器设计中斜对称性的要求,对移动机械手系统中存在的参数或外界扰动等不确定性具有较强的鲁棒性和自适应能力.理论证明和仿真结果表明,所设计的控制器是有效的.     

机械手臂的多模型预测控制

针对机械手臂的非线性特点,提出了基于隶属度函数的多模型预测控制方法。该方法首先根据机械手臂的特点,选择合适的调度变量,将机械手臂的工作空间划分为若干个工作子空间,在每个子空间内的平衡点处对机械手臂进行线性化处理,得到相应的线性子模型,从而得到机械手臂的多模型表示;其次针对每个线性子模型设计局部预测控制器,使其在相应的子空间内达到控制要求;最后选择梯形隶属度函数与局部预测控制器进行加权求和,获得全局多模型预测控制器,以对机械手臂进行控制。仿真结果表明,当机械手臂的工作条件在大范围内变化时,全局多模型预测控制器的控制性能远优于常规PD控制器,达到了预期的控制目的。     

Probability-Based Weighting of Performance Criteria for Redundant Manipulators

A method to simultaneously optimize multiple performance criteria for a redundant manipulator is presented. Preferred formulation requirements for the criteria are discussed, and previously proposed normalization methods are examined. A statistically based variable weighting technique is developed and evaluated. A seven-degree-of-freedom Robotics Research Corporation manipulator is used as a test bed for the multiple criteria optimization scheme.     

基于遗传算法的机械臂实时避障路径规划研究

针对模块化机械臂在运行时可能与工作空间中的障碍物发生碰撞的问题, 提出一种基于遗传算法的避障路径规划算法。首先采用D-H(Denavit-Hartenberg)表示法对机械臂进行建模, 并进行运动学和动力学分析, 建立机械臂运动学和动力学方程。在此基础上, 利用遗传算法分别在单/多个障碍物工作环境中, 以运动的时间、移动的空间距离和轨迹长度作为优化指标, 实现机械臂避障路径规划的优化。通过仿真验证了基于遗传算法的机械臂避障路径规划算法的有效性与可行性, 该算法提高了运行中的机械臂有效避开工作空间中障碍物的效率。     

An Adaptive Fuzzy Control Model for Multi-Joint Manipulators

Multi-joint manipulator systems are subject to nonlinear influences such as frictional characteristics, random disturbances and load variations. To account for uncertain disturbances in the operation of manipulators, we propose an adaptive manipulator control method based on a multi-joint fuzzy system, in which the upper bound information of the fuzzy system is constant and the state variables of the manipulator control system are measurable. The control algorithm of the system is a MIMO (multi-input-multi-output) fuzzy system that can approximate system error by using a robust adaptive control law to eliminate the shadow caused by approximation error. It can ensure the stability of complex manipulator control systems and reduce the number of fuzzy rules required. Comparison of experimental and simulation data shows that the controller designed using this algorithm has highly-precise trajectory-tracking control and can control robotic systems with complex characteristics of non-linearity, coupling and uncertainty. Therefore, the proposed algorithm has good practical application prospects and promotes the development of complex control systems.     

基于CAN总线控制系统的航天特种机械臂设计

航天特种机械臂具备精确操作和视觉识别的能力,在载人航天领域中广泛应用,为了在复杂环境中精准完成陆基装配任务,设计基于CAN总线控制系统的航天特种机械臂。从关节、连杆、驱动电机、锁紧制动器等方面,组装航天特种机械臂结构元件。装设航天特种机械臂控制器,在控制器中加设一个串行通信接口,将控制器连接到CAN总线中,配置CAN总线控制系统的通信协议,完成航天特种机械臂硬件结构设计。利用航天特种机械臂中传感器设备,检测航天特种机械臂实时位姿,补偿航天特种机械臂重力负载。根据机械臂工作任务,规划移动轨迹,在控制器的支持下,通过控制量的计算与通信,实现航天特种机械臂的控制功能。性能测试实验表明,设计基于CAN总线控制系统的航天特种机械臂平均位置和关节姿态角的控制误差分别为3.0m和0.32°,平均形变量为2.64m2,具有较好的控制性能和抗压性能。     

空间机械臂本体与末端抓手协调运动的自适应控制方法

讨论了载体位置不受控制的漂浮基空间机械臂本体与末端抓手协调运动的自适应控制问题. 对系统的运动学、动力学分析表明, 结合系统动量守恒关系得到的系统动力学方程及协调运动的增广广义Jacobi矩阵可以表示为适当选择的组合惯性参数的线性函数. 以此为基础, 对于系统存在未知参数的情况, 设计了本体姿态与机械臂末端抓手惯性空间轨迹协调运动的自适应控制方案. 上述控制方案的显著优点在于: 不需要测量、反馈飞行器本体的位置、移动速度及移动加速度. 仿真运算, 证实了上述控制方案的有效性.     

非完整移动机械手鲁棒自适应模糊控制

考虑系统存在的参数、外界扰动和未建模动态等不确定性,研究非完整移动机械手的鲁棒自适应控制器设计方法.基于用旋量理论建立的非完整移动机械手的动力学模型,设计了移动平台子系统的运动控制器,然后应用非线性反步控制技术和模糊逻辑系统的通用逼近性,用参数化线性模糊逻辑系统逼近非完整移动机械手动力学模型中的不确定项,基于Lyapu...     

航空相机操纵器仿真系统研究

航空相机操纵器是安装在飞机上对航空相机进行控制的仪器,其仿真系统可用于模拟控制航空相机的地面拍照、航空相机性能测试及相关设备性能的研究。文中在介绍航空相机操纵器系统功能的基础上,针对航空相机的拍照特点,在VisualC++环境下,建立了航空相机操纵器的仿真系统,并着重进行了硬件结构设计。通过对参数的装定、调焦和图像处理等大量实验,证明了该系统性能稳定,具有很强的抗干扰性,不仅缩短了研制周期,而且还降低了试验费用,节省了经费的投入。     

Task-based optimization of reconfigurable robot manipulators

Reconfigurable Manipulators are structurally redundant robots that utilize a subset of their joints to perform a specific task optimally. This paper presents a method of finding a task-based optimal configuration for a new type of reconfigurable robot manipulator, called the modular autonomously reconfigurable serial (MARS) manipulator. The reconfiguration optimization treats the joint space of the MARS manipulator as a 12-dimensional smooth configuration manifold. The manifold is discretized and ranked based on a variety of criteria, and then clustered into attractive and repellent regions. The user then specifies which regions are desired in the target configuration, and the manifold is reduced in dimension in order to maximize the number of attractive regions and minimize the number of repellent regions. Six manipulator configurations are synthesized using this approach, and their effectiveness is compared.     

基于最小二乘法的桥式起重机机械臂关节控制系统设计

机械臂关节控制过程存在姿态误差,提出基于最小二乘法的桥式起重机机械臂关节控制系统设计;设计机械臂总体架构,达到级联组成末端位姿目的,使用全驱动灵巧手,包含1手掌和3手指,采用多个连杆串并联混合的形式传递运动和力矩,借助AT89C51单片机设计电路结构;采用最小二乘法构建机械臂的响应面模型,通过H-D参数法计算机械臂末端运动关节间位姿误差,建立误差模型,利用DETMAX算法分析运动参数,实现最小姿态选取,将机械臂运行速度数据记录在控制系统平台中,根据机械臂运行速度信息获取其均匀性控制状况,实现控制;激光测振仪的输出单位为1 mm/V,柔性机械臂的振动周期200ms,训练样本集大小为300,测试集样本大小为100,实验结果可表明,该方法机械臂关节运动拟合度与实际情况基本一致,位置跟随误差见效时间需要0.05～0.2 s,之后位置跟随误差便能够保持在较小的范围之内.     

用于微器件装配的微操作系统

微器件装配技术是微机械的关键技术之一,本文从微 器件装配系统的特性和功能出发,提出了一套用于微装配的微操作系统设计方案,并对系统 各个组成部分进行分析,介绍了系统实现的方法．     

Master-slave intelligent robot telepresence system

In this paper, the analysis and design of master-slave intelligent robot telepresence system are discussed. When the operator acts on the master manipulator, the position and attitude information of the master manipulator are gathered by the computer. After calculating and coordinate transforming, the data are send to the computer of the slave manipulator. Then the slave manipulator-PUMA562 robot follows the master manipulator's movement precisely. Six-dimension force/toque sensor(lord cell) is mounted on the slave manipulator. As the master manipulator and the toque on the slave manipulator are different in structure, the force and the slave manipulator should be send to the master manipulator computer and dissociated by the master manipulator computer. Proper ratio of the force on the master manipulator and the force on the slave manipulator is selected, and distribute to the master manipulator joints. So that the operator could feel the force from the master manipulator, which is obtained by the motors of the joints. The proposed control scheme is introduced to a prototype master-slave system and the experimental results show the validity of the proposed scheme.     

Incremental visual servo control of robotic manipulator for autonomous capture of non-cooperative target

This paper develops a new autonomous incremental visual servo control law for the robotic manipulator to capture a non-cooperative target, where the control input is the incremental joint angle to avoid the multiple solutions in the existing inverse kinematics. The position and motion of the non-cooperative target are estimated by an eye-to-hand vision system in real time by integrated photogrammetry and extended Kalman filter. The estimated position and motion of the target are fed into the newly developed position-based visual servo control law to drive the manipulator incrementally towards the dynamically predicted interception point between trajectories of the end effector and the target. To validate the proposed approach, a hardware-in-the-loop simulation has been conducted where the position and motion of the target is estimated by a real eye-to-hand camera and fed into the simulation of the robotic manipulator. The simulation results show the proposed incremental visual servo control law is stable and able to avoid the multiple solutions in the total inverse kinematics.     

一种可重构机械臂的自组织协调控制

主要研究一种新的具有树型结构的可重构机械臂的自组织协调控制问题，首先给出这种可重构机械臂的运动学、动力学方程及其结构变化的关系；然后通过研究一个较通用的任务模型建立了系统的动力学方程，由此提出一个自组织协调控制策略，最后仿真结果证明了控制规律是有效的。     

考虑柔性关节的机械臂自适应运动控制策略研究

具有柔性关节的轻型机械臂因其自重轻、响应迅速、操作灵活等优点,取得了广泛应用;针对具有柔性关节的机械臂系统的关节空间轨迹跟踪控制系统动力学参数不精确的问题,提出一种结合滑模变结构设计的自适应控制器算法;通过自适应控制的思想对系统动力学参数进行在线辨识,并采用Lyapunov方法证明了闭环系统的稳定性;仿真结果表明,该控制策略保证了机械臂系统对期望轨迹的快速跟踪,具有良好的跟踪精度,系统具有稳定性。     

冗余机械臂运动学优化设计

该文主要从机械臂运动学的角度,定义了故障容错机械臂,巧妙地论证了冗余故障容错机械臂应该具备的自由度数,以及针对不同的任务要求,设计故障容错机械臂的方法。通过将任务空间抽象简化为一系列的特征点,建立机械臂参数与理想值相关的罚函数,选择有效的优化算法,设计出了通用一阶故障容错平面位置机械臂,通用一阶故障容错空间位置机械臂,以及特定任务一阶故障容错平面位置机械臂。建立起完整的故障容错机械臂的设计方法。     

A nonregressor nonlinear disturbance observer-based adaptive control scheme for an underwater manipulator

A new nonlinear disturbance observer-based tracking control scheme for an underwater manipulator is presented in this paper. This observer overcomes the disadvantages of existing disturbance observers, which are designed or analyzed by the linear system techniques. It can be applied in underwater manipulator systems for various purposes such as payload compensation, interaction effects compensation, underwater current or external disturbance compensation, and independent system control. The performance of the proposed tracking control scheme is demonstrated numerically by the payload compensation and interaction effects compensation for a two degrees of freedom vertical underwater manipulator.     

Energy Based Indexes for Manipulator Dynamics Improvement

Several indexes for evaluation of nonlinear effects during the motion of rigid multi-body systems are proposed in this paper. All of them are based on the kinetic energy and arise from an analysis of equations of motion expressed in terms of inertial quasi-velocities (IQV). Such equations are first-order and have a diagonal mass matrix of the system. The IQV depend on configuration of the system and take into consideration also its geometrical and inertial parameters. The indexes enable to detect deformation of joint velocity as a consequence of manipulator motion, the kinetic energy resulting from dynamical couplings and the energy transferred by each link individually. Because calculation of these indexes allow to determine influence of couplings on behavior of the manipulator then they can be used in the design phase for analysis and reduction of nonlinear effects in any motion. Simulation and experimental results demonstrate that the proposed indexes are significant for evaluation of nonlinear effects and kinetic energy reduction during the manipulator motion.