Control and Virtual Reality Simulation of Tendon Driven Mechanisms

In this paper the authors present a control strategy for tendon driven mechanisms. The aim of the control system is to find the correct torques which the motors have to exert to make the end effector describe a specific trajectory. In robotic assemblies this problem is often solved with closed loop algorithm, but here a simpler method, based on a open loop strategy, is developed. The difficulties in the actuation are in keeping the belt tight during all working conditions. So an innovative solution of this problem is presented here. This methodology can be easily applied in real time monitoring or very fast operations. For this reason several virtual reality simulations, developed using codes written in Virtual Reality Markup Language, are also presented. This approach is very efficient because it requires a very low cpu computation time, small size files, and the manipulator can be easily put into different simulated scenarios.     

机器人机构的全域性能指标研究

重点分析了Gosselin提出的全域性能指标η,针对其不足提出了改进和完善的措施．提出了全域运动性能波动指标σ,并建议将改进后的全域综合性能参数作为机器人尺度优化设计的目标函数．最后通过算例证明其有效性．     

Dynamic Analysis and Distributed Control of the Tetrobot Modular Reconfigurable Robotic System

Reconfigurable robotic systems can be adapted to different tasks or environments by reorganizing their mechanical configurations. Such systems have many redundant degrees of freedom in order to meet the combined demands of strength, rigidity, workspace kinematics, reconfigurability, and fault tolerance. In order to implement these new generations of robotic system, new approaches must be considered for design, analysis, and control. This paper presents an efficient distributed computational scheme which computes the kinematics, dynamics, redundancy resolution, and control inputs for real-time application to the control of the Tetrobot modular reconfigurable robots. The entire system is decomposed into subsystems based on a modular approach and Newton's equations of motion are derived and implemented using a recursive propagation algorithm. Two different dynamic resolution of redundancy schemes, the centralized Jacobian method and the distributed virtual force method, are proposed to optimize the actuating forces. Finally, distributed dynamic control algorithms provide an efficient modular implementation of the control architecture for a large family of configurations.     

柔性机器人的动力学建模及其控制*

本文首先综述了近年来在柔性机器人动力学建模方面所取得的进展，着重介绍了目前较常见的几种建模方法和模型，同时对柔性机器人的控制问题进行了评述，指出了今后研究的方向。     

Dynamic Visibility‐Driven Molecular Surfaces

Molecular surface representations are an important tool for the visual analysis of molecular structure and function. In this paper, we present a novel method for the visualization of dynamic molecular surfaces based on the Gaussian model. In contrast to previous approaches, our technique does not rely on the construction of intermediate representations such as grids or triangulated surfaces. Instead, it operates entirely in image space, which enables us to exploit visibility information to efficiently skip unnecessary computations. With this visibility‐driven approach, we can visualize dynamic high‐quality surfaces for molecules consisting of millions of atoms. Our approach requires no preprocessing, allows for the interactive adjustment of all properties and parameters, and is significantly faster than previous approaches, while providing superior quality.     

Dynamic Data Driven Simulations in Stochastic Environments

To improve the predictions in dynamic data driven simulations (DDDAS) for subsurface problems, we propose the permeability update based on observed measurements. Based on measurement errors and a priori information about the permeability field, such as covariance of permeability field and its values at the measurement locations, the permeability field is sampled. This sampling problem is highly nonlinear and Markov chain Monte Carlo (MCMC) method is used. We show that using the sampled realizations of the permeability field, the predictions can be significantly improved and the uncertainties can be assessed for this highly nonlinear problem.     

Dynamic Modeling and Decentralized Control of a 3 PRS Parallel Mechanism Based on Constrained Robotic Analysis

In this paper, a novel dynamic model is developed for analysis and control of a 3-PRS (Prismatic, Revolute, Spherical) parallel mechanism. The dynamic model is formulated in the joint space and three holonomic constraint equations are derived to specify the coupling relationships between the actuated legs and the moving platform. The associated constraint forces are determined to be internal forces and it leads to a novel model where the dynamics of the moving platform can be separated from that of the actuated legs. By utilizing the developed model, the constraint forces can be computed more efficiently as compared to the conventional approach. After compensation of the coupling dynamics, each actuated legs could be considered as a decoupled system. The coupling behavior of the parallel mechanism can then be easily illustrated by the proposed model. To facilitate real-time control implementation, the derived model can be further simplified and a decentralized control scheme integrated with a disturbance observer is proposed. The computational efficiency and tracking performances for the proposed control method are then validated by computer simulations.     

A Unified Dynamic Model Formulation for Robotic Manipulator Systems

This paper addresses the problem of the formulation of a unified dynamic model for sundry robotic manipulator systems derived from the first principle of mechanics instead of the existing formulation based on linear separability principle. It provides a systematic derivation, evaluation, and subsequent conceptual interpretation of manipulator dynamics model. Further, it analyzes the generality of the unified model over a wide range of manipulator configurations. In addition, it describes the implementation aspects of the unified model. © 2003 Wiley Periodicals, Inc.     

The Dynamic Selection of Coordination Mechanisms

This paper presents and evaluates a decision making framework that enables autonomous agents to dynamically select the mechanism they employ in order to coordinate their inter-related activities. Adopting this framework means coordination mechanisms move from the realm of something that is imposed upon the system at design time, to something that the agents select at run-time in order to fit their prevailing circumstances and their current coordination needs. Using this framework, agents make informed choices about when and how to coordinate and when to respond to requests for coordination. The framework is empirically evaluated, in a grid world scenario, and we highlight those types of environments in which it is effective.     

元数据展开的动态二进制翻译寄存器化优化

动态二进制翻译技术可以使编译好的二进制代码无缝运行于其他架构下,目前得到越来越广泛的应用.由于在动态翻译执行的过程中缺少程序的原始语义信息而只能采用保守的策略来保证程序的正确性,从而制约到动态二进制翻译的性能.为了解决这种不足,本文提出一种基于静态编译阶段产生的对性能有影响的元数据进行动态翻译中的寄存器化优化算法,进而来提高动态翻译器的整体性能.实验数据表明优化方法对于SPECfp2000和SPECint2000测试集分别获得了15.03%和1.21%的性能提升,其中的一些测试包的加速比甚至达到了37.09%.     

仿生机器鱼胸/尾鳍协同推进闭环深度控制

为改善机器鱼定深控制过程中的动态性能与稳态性能,根据深度误差的大小将定深控制过程分解为趋近阶段与巡游阶段,给出了一种基于中枢模式发生器(central pattern generator,CPG)与模糊控制相结合的闭环运动控制方法.为此,首先建立了以压力传感器信号为反馈输入,通过模糊控制器调节控制参数的CPG运动控制模型.在此基础上,针对误差较大的趋近阶段,采用胸/尾鳍协同方式,通过趋近模糊控制器改变摇翼关节的偏置量与幅值来使机器鱼快速到达期望深度;针对误差较小的巡游阶段,采用改变攻角方式,通过巡游模糊控制器改变胸鳍攻角来使机器鱼保持在期望深度.两阶段之间通过胸鳍CPG的启停实现切换.模糊控制器设计时利用了基于最小二乘法对实验数据拟合而得出的俯仰角变化率与控制参数的近似关系,提高了机器鱼趋向期望深度的速度并减小了在期望深度巡游时的稳态误差.仿真与实验结果验证了所提控制方法的有效性.     

机器人动态抓取的变比例导引路径规划方法

研究机器人手眼协调系统接近和抓取运动目标的路径规划方法,提出了一种脱胎于比例导引方法的变比例导引（ＶＧＰ）路径规划方法,这 方法设定手扑的视角在接近目标过程中以镁速不断变化,因而可以使手扑从目标运动前方拦截到目标,另外,机器人手扑在接近目标时,可以同时调整手主的接近姿态,以包抄的方式以目标。这种路径规划方法能够容许更大的目标位置估计误差,并能处理目标的机动运动,因而优于传统的目标跟踪路径规划方法,     

Planning 3-D Collision-Free Dynamic Robotic Motion Through Iterative Reshaping

We propose a general and practical planning framework for generating 3-D collision-free motions that take complex robot dynamics into account. The framework consists of two stages that are applied iteratively. In the first stage, a collision-free path is obtained through efficient geometric and kinematic sampling-based motion planning. In the second stage, the path is transformed into dynamically executable robot trajectories by dedicated dynamic motion generators. In the proposed iterative method, those dynamic trajectories are sent back again to the first stage to check for collisions. Depending on the application, temporal or spatial reshaping methods are used to treat detected collisions. Temporal reshaping adjusts the velocity, whereas spatial reshaping deforms the path itself. We demonstrate the effectiveness of the proposed method through examples of a space manipulator with highly nonlinear dynamics and a humanoid robot executing dynamic manipulation and locomotion at the same time.      

基于传感器信息的机器人精密装配作业分析

介绍了一个应用力传感器组成的智能机器人精密装配作业的宏／微操作系统，它能够完成一般凸形销孔零件沿任意方向的精密装配作业。     

Incentive Mechanisms in Dynamic Active Systems

Consideration was given to the problem of incentives in the dynamic multiagent active system. The problem of design was solved, and coordination of the plans given by the principal to the agents was studied.     

动态数据驱动应用系统研究综述

动态数据驱动应用系统(DDDAS)是一种功能强大的全新模式,是系统仿真发展的新趋势,也是网格应用的未来发展方向.该文简述了DDDAS提出的背景和发展历史,介绍了美国自然科学基金会近几年对DDDAS 的资助情况,给出了DDDAS的基本概念,从控制、可视化及用户接口、仿真模型、数据采集四个部分叙述了DDDAS的系统框架.然后以DDDAS在地震救援中的应用为例,进一步阐明DDDAS的概念,并从应用开发、算法、动态环境的系统支撑、测量四个方面分析了DDDAS的研究内容,最后给出了DDDAS的应用前景.     

Dynamic Analysis of Closed Loop Mechanisms on the Basis Vectors of Passive Joint Axes

By determining a basis of s linear space of twists of a loop in amechanism by passive joint axes in the loop, the concise expressions among active joint torques and wrenches acting on links of a mechanism can be obtained. For the reason that the expressions are based on the basis vectors of joint axes of a mechanism, the algorithm is independent on types of mechanisms such as planar, spherical, spatial, etc. Also, the constraint conditions in loops can be dealt with separately for each loop. It makes the algorithm simple and can reduce the computational cost. By modifying the algorithm, simple expressions for parallel mechanisms can also be obtained. © 2003 Wiley Periodicals, Inc.     

改进蚁群与动态Q学习融合的机器人路径规划

基本Q学习算法应用于路径规划时,动作选择的随机性导致算法前期搜索效率较低,规划耗时长,甚至不能找到完整的可行路径,故提出一种改进蚁群与动态Q学习融合的机器人路径规划算法.利用精英蚂蚁模型和排序蚂蚁模型的信息素增量机制,设计了一种新的信息素增量更新方法,以提高机器人的探索效率;利用改进蚁群算法的信息素矩阵为Q表赋值,以减少机器人初期的无效探索;设计了一种动态选择策略,同时提高收敛速度和算法稳定性.在不同障碍物等级的二维静态栅格地图下进行的仿真结果表明,所提方法能够有效减少寻优过程中的迭代次数与寻优耗时.     

基于动态Snake模型的机械手运动轨迹视觉跟踪

针对机械手运动在图像序列空间的轨迹分布,提出一种基于时空轨迹线的动态Snake跟踪模型.定义相应的能量函数,可使其在机械手轨迹分布上取得极小,通过Snake能量的轨迹收敛实现对机械手运动点的跟踪定位.利用轨迹能量系数的动态调节,可避免Snake搜索过程陷入局部极小．使用平方轨迹最小二乘预测器对轨迹点位置进行预测,可提高Snake搜索的实时性和准确性．微装配机械手运动实验证明了该模型及跟踪算法的有效性.