共查询到19条相似文献,搜索用时 171 毫秒
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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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基于无极卡尔曼滤波算法的雅可比矩阵估计 总被引:1,自引:0,他引:1
在基于图像的机器人视觉伺服中,采用在线估计图像雅可比的方法,不需事先知道系统的精确模型,可以避免复杂的系统标定过程。为了有效改善图像雅可比矩阵的在线估计精度,进而提高机器人的跟踪精度,针对机器人跟踪运动目标的应用背景,提出了利用无极卡尔曼滤波算法在线估计总雅可比矩阵。在二自由度的机器人视觉伺服仿真平台上,分别用卡尔曼滤波器(KF)、粒子滤波器(PF)和无极卡尔曼滤波器(UKF)三种算法进行总雅可比矩阵的在线估计。实验结果证明,使用UKF算法的跟踪精度优于其他两种算法,时间耗费仅次于KF算法。 相似文献
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基于神经网络的冗余度TT-VGT机器人的运动学求解 总被引:1,自引:0,他引:1
应用BP神经网络对冗余度TT-VGT机器人的位姿正解进行训练学习,进而求解机器人
的位姿反解问题.根据网络模型求得机器人的一、二阶影响系数,应用神经网络求解雅可比
矩阵的伪逆.并对七重四面体的变几何桁架机器人进行了仿真计算. 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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文中对 Stanford 机器人进行了动力学性能分析和实体及运动仿真.首先运用影响系数法建立机器人的影响系数矩阵,利用同时基于Jacobian 矩阵和 Hessian 矩阵的动力学性能指标进行分析,给出动力学性能指标图谱.在此基础上,运用MATLAB软件对Stanford机器人进行实体和速度、加速度仿真.根据性能分析和仿真结果,说明我们用同时基于Jacobian矩阵和Hessian矩阵的动力学性能指标进行分析Stanford机器人动力学性能的正确性,以及MATLAB的可视化技术在机器人领域中的应用和发展前景. 相似文献
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Kinematic analysis and error modeling of TAU parallel robot 总被引:2,自引:0,他引:2
The TAU robot presents a new configuration of parallel robots with three degrees of freedom. This robotic configuration is well adapted to perform with a high precision and high stiffness within a large working range compared with a serial robot. It has the advantages of both parallel robots and serial robots. In this paper, the kinematic modeling and error modeling are established with all errors considered using Jacobian matrix method for the robot. Meanwhile, a very effective Jacobian approximation method is introduced to calculate the forward kinematic problem instead of Newton–Raphson method. It denotes that a closed form solution can be obtained instead of a numerical solution. A full size Jacobian matrix is used in carrying out error analysis, error budget, and model parameter estimation and identification. Simulation results indicate that both Jacobian matrix and Jacobian approximation method are correct and with a level of accuracy of micron meters. ADAMS's simulation results are used in verifying the established models. 相似文献
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Several authors have noted that if the robot inertia matrix D(q) can be factored as NT(q)N(q) where N(q) is the Jacobian of a function Q(q), then Q and P = N(q)q define a canonical transformation relative to which the robot dynamics are linear except for gravity terms. In this article, we show that necessary and sufficient condition for the existence of such a factorization is that the Riemannian curvature of the robot inertia matrix D(q) vanish identically. We use this result to generate feedback linearization and approximate feedback linearization control laws that require fewer calculations than the usual method of computed torque. © 1995 John Wiley & Sons, Inc. 相似文献
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Kasac J. Novakovic B. Majetic D. Brezak D. 《Automatic Control, IEEE Transactions on》2006,51(6):1035-1040
The existing controllers for robot manipulators with uncertain gravitational force can globally stabilize only robot manipulators with revolute joints. The main obstacles to the global stabilization of robot manipulators with mixed revolute and prismatic joints are unboundedness of the inertia matrix and the Jacobian of the gravity vector. In this note, a class of globally stable controllers for robot manipulators with mixed revolute and prismatic joints is proposed. The global asymptotic stabilization is achieved by adding a nonlinear proportional and derivative term to the linear proportional-integral-derivative (PID) controller. By using Lyapunov's direct method, the explicit conditions on the controller parameters to ensure global asymptotic stability are obtained. 相似文献
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Amir Rezaei Alireza Akbarzadeh Payam Mahmoodi Nia Mohammad-R. Akbarzadeh-T 《Robotics and Computer》2013
This paper investigates the problems of kinematics, Jacobian, singularity and workspace analysis of a spatial type of 3-PSP parallel manipulator. First, structure and motion variables of the robot are addressed. Two operational modes, non-pure translational and coupled mixed-type are considered. Two inverse kinematics solutions, an analytical and a numerical, for the two operational modes are presented. The direct kinematics of the robot is also solved utilizing a new geometrical approach. It is shown, unlike most parallel robots, the direct kinematics problem of this robot has a unique solution. Next, analytical expressions for the velocity and acceleration relations are derived in invariant form. Auxiliary vectors are introduced to eliminate passive velocity and acceleration vectors. The three types of conventional singularities are analyzed. The notion of non-pure rotational and non-pure translational Jacobian matrices is introduced. The non-pure rotational and non-pure translational Jacobian matrices are combined to form the Jacobian of constraint matrix which is then used to obtain the constraint singularity. Finally, two methods, a discretization method and one based on direct kinematics are presented and robot non-pure translation and coupled mixed-type reachable workspaces are obtained. The influence of tool length on workspace is also studied. 相似文献
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六自由度并联式机器人拉格朗日动力方程 总被引:11,自引:0,他引:11
本文对六自由度并联机器人的动力学问题进行了研究.文中根据一二阶影响系数矩阵,导出了仅依赖于系统的质量分布和几何特性的广义惯性张量和广义惯性功率模型矩阵,建立了多回路系统的拉格朗日动力方程和运动控制方程.最后给出了实例计算. 相似文献
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一般7R串联机器人标定的仿真与实验 总被引:2,自引:0,他引:2
为了标定一般7R冗余度串联机器人的所有几何参数,提出了一种实效的算法.首先,使用D-H矩阵对机器人建立了运动学模型和几何参数识别模型,对雅可比矩阵进行奇异值分解并对分解后的正交阵的最后5行进行初等行变换,以确定需要补偿的几何参数.通过机器人关节角和末端手爪位置的测量数据,计算雅可比矩阵以及手爪位置理论值和实测值的误差,采用最小二乘法对机器人的尺寸参数进行补偿量的计算.仿真过程表明,在有测量扰动的情况下,算法是稳定的和可靠的.最后,对机器人进行了实际的测量和标定,取得了满意的结果. 相似文献
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Internal singularity analysis of a class of lower mobility parallel manipulators with articulated traveling plate 总被引:2,自引:0,他引:2
This paper deals with a particular family of lower mobility parallel kinematic manipulators. The four degrees of freedom of the end-effector consist of three translations plus one rotation with a high tilting angle. Robots belonging to this family are first introduced, and a common parameterization is established. Then an extended kinematic model is proposed for this family of robots using a new Jacobian matrix. Relevant information about robot kinematic singularities, internal singularities, and possible end-effector motions can be obtained by resorting to this matrix. The efficiency of this method is proven by applying it to several traveling-plate architectures corresponding to already built robot prototypes. The results of the expected behavior are compared with the prototype's real behavior. The goal of this paper is to show that internal (or constraint) singularities can occur in lower mobility parallel kinematic manipulators, and to underline the influence they have during the design stage. 相似文献
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Hee-Byoung Choi Atsushi Konno Masaru Uchiyama 《International Journal of Control, Automation and Systems》2010,8(2):378-384
In this paper, analytic singularity analysis of a 4-DOF parallel robot H4 is addressed. Since a parallel manipulator consisting of several serial chains has complex singularities in the workspace, the determination of singular configurations is very important in design, trajectory planning, and control. The classical method to determine singular configurations is to find the determinant of the Jacobian matrix. However, the Jacobian matrix of a parallel manipulator is complex in general and thus it is not easy to find the determinant of the Jacobian matrix. Therefore, we focus on the analytic singularity analysis of a 4-DOF parallel robot H4 using Jacobian deficiencies. A subset of the whole singularities and the intuitively predictable ones are only derived using Jacobian matrix deficiency. Three type singularities, i.e., overmobility, undermobility and combined singularities, have been presented. 相似文献