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1.
Mahmoud Elsisi 《国际智能系统杂志》2020,35(11):1857-1878
The controller design for the robotic manipulator faces different challenges such as the system's nonlinearities and the uncertainties of the parameters. Furthermore, the tracking of different linear and nonlinear trajectories represents a vital role by the manipulator. This paper suggests an optimal design for the nonlinear model predictive control (NLMPC) based on a new improved intelligent technique and it is named modified multitracker optimization algorithm (MMTOA). The proposed modification of the MTOA is carried out based on opposition-based learning (OBL) and quasi OBL approaches. This modification improves the exploration behavior of the MTOA to prevent it from becoming trapped in a local optimum. The proposed method is applied on the robotic manipulator to track different linear and nonlinear trajectories. The NLMPC parameters are tuned by the MMTOA rather than the trial and error method of the designer. The proposed NLMPC based on MMTOA is compared with the original MTOA, genetic algorithm, and cuckoo search algorithm in literature. The superiority and effectiveness of the proposed controller are confirmed to track different linear and nonlinear trajectories. Furthermore, the robustness of the proposed method is emphasized against the uncertainties of the parameters. 相似文献
2.
We consider nonholonomic mobile manipulators built from an n
a
joint robotic arm and a nonholonomic mobile platform with two independently driven wheels. Actually, there is no efficient kinematic formalism for these systems which are generally characterized by their high number of actuators. So, kinematic modelling is presented with particular emphasis on redundancy. Whereas kinematic redundancy is well known in the holonomic case, it is pointed out that it is necessary to define velocity redundancy in the case of nonholonomic systems. Reduced velocity kinematics based on quasi-velocities are shown to provide an efficient formalism. Two examples of mobile manipulators are presented. Finally, reduced velocity kinematics and velocity redundancy are shown to be adequate tools in order to realize operational task while optimizing criteria such as manipulability. 相似文献
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4.
Fast parallel Preconditioned Conjugate Gradient algorithms for robot manipulator dynamics simulation
In this paper fast parallel Preconditioned Conjugate Gradient (PCG) algorithms for robot manipulator forward dynamics, or dynamic simulation, problem are presented. By exploiting the inherent structure of the forward dynamics problem, suitable preconditioners are devised to accelerate the iterations. Also, based on the choice of preconditioners, a modified dynamic formulation is used to speedup both serial and parallel computation of each iteration. The implementation of the parallel algorithms on two interconnected processor arrays is discussed and their computation and communication complexities are analyzed. The simulation results for a Puma Arm are presented to illustrate the effectiveness of the proposed preconditioners. With a faster convergence due to preconditioning and a faster computation of iterations due to parallelization, the developed parallel PCG algorithms represent the fastest alternative for parallel computation of the problem withO(n) processors. 相似文献
5.
针对非对称并联机构在某些方面有着特殊的应用但研究较少的现状,对一种非对称6-PSS并联机构工作空间和灵活度进行了研究,得到了其工作空间和灵活度随结构参数和姿态要求的变化规律,得出此机构可以应用在y轴方向工作空间要求大,而绕x轴转角要求不高的场合。为进一步扩大并联机构的实际应用提供了依据。 相似文献
6.
气动逻辑元件在多气缸顺序动作气压控制回路中的应用 总被引:1,自引:0,他引:1
朱光力 《组合机床与自动化加工技术》2003,(8):60-61
以三坐标气动机械手为例子来说明气动逻辑元件在多气缸顺序动作的气压控制回路中的应用,从而使得气动控制回路的设计变得简单明了。 相似文献
7.
In this work a simple method to solve the forward displacement analysis of the general 6-6 fully parallel manipulator is applied. The method is based on generating closure equations upon the unknown coordinates of three points embedded to the moving platform. The method is easy to follow and it is available for both, planar and three-dimensional moving platforms. Numerical examples are included with the purpose to show the application of the method. 相似文献
8.
3-DOF translational parallel manipulators have been developed in many different forms, but they still have respective disadvantages in different applications. To overcome their disadvantages, the structure and constraint design of a 3-DOF translational parallel manipulator is presented and named the Tri-pyramid Robot. In the constraint design of the presented manipulator, a conical displacement subset is defined based on displacement group theory. A triangular pyramidal constraint is presented and applied in the constraint designs between the manipulator?s subchains. The structural properties including the decoupled motions, overconstraint elimination, singularity free workspace, fixed actuators and isotropic configuration are analyzed and compared to existing structures. The Tri-pyramid Robot is constrained and realized by a minimal number of 1-DOF joints. The kinematic position solutions, workspace with variation of structural parameters, Jacobian matrix, isotropic and dexterity analysis are performed and evaluated in the numerical simulations. 相似文献
9.
10.
针对空间机械臂在地面装调与空间应用时,由于重力环境变化导致机械臂模型发生变化的问题,提出了一种自抗扰控制算法,用于完成空间机械臂轨迹跟踪控制的任务.该算法通过将系统模型及未知外扰作为系统的总和扰动,并利用扩张状态观测器对该扰动进行观测且给予补偿,从而提高了系统抗扰的性能.当机械臂模型随重力环境变化而发生变化时,使用同一个自抗扰控制器对其末端轨迹进行控制,均能取得较好的控制效果.通过对系统的稳定性进行分析,证明了所设计控制器的有效性.将仿真结果与PD控制及自适应鲁棒控制做比较,结果表明该控制算法不仅能适应机械臂模型的变化而且还能有效抵抗系统的扰动,从而使系统具有较强的鲁棒性. 相似文献