Research on coordinated motion of an autonomous underwater vehicle-manipulator system 自治水下機器人機械手系統(tǒng)協(xié)調運動研究
Implementation and kinematic control of a hyper-redundant mobile manipulator system 一個超冗余度移動操作臂機器人系統(tǒng)的實現(xiàn)與運動控制
A linearized time-delay controller is proposed for a flexible manipulator system following the optimal tracking control theory 摘要采用最優(yōu)跟蹤控制方法對柔性機械臂線性化主動控制中的時滯問題進行研究。
For multiple cooperating manipulators system, the new method for object nonsqueezing grasp is introduced, and the related dynamic load distribution in the joint space is discussed 摘要討論了多機械手協(xié)同系統(tǒng)的無內力抓取及相應的動載分配方法。
Whereas the underwater vehicle-manipulator system is of kinematic redundancy and carries energy with itself, the drag optimization function is incorporated into the motion coordination algorithm to minimize energy consumption of the system 鑒于自治水下機器人機械手系統(tǒng)是運動學冗余的且自帶能源,因此將系統(tǒng)阻力優(yōu)化函數(shù)引入逆運動學求解,設計了基于系統(tǒng)能源消耗最小的系統(tǒng)協(xié)調運動規(guī)劃算法。
Because this thesis'research has been supported by the national project 863 " the research on mobile manipulator system for the leak examination and repairment of the dangerous chemical receptor . " ( program no . : 2003aa421040 ), the positioning technology has been further studyed 本課題在國家863計劃課題“危險化學反應器檢測與修補移動機械手系統(tǒng)”(項目編號:2003aa421040)的支持下,對移動機器人的定位技術進行了較深入的研究。
It was observed from the inverse kinematics simulation results that the position, accelerate and velocity minimum-norm solution of joint 1, 3, 7 of the manipulator were controllable with no abnormal fluctuates, which satisfy the motion requirements . however, the position, the accelerate and the velocity of joint 2, 4, 5, 6 of the manipulator varied with time irregularly with high efficiency during the simulation time t = 4.7197s ~ 5s, which would make the joint uncontrollable and result in the vibration of the manipulator system, hence the kinematic performance of manipulator should be improved 逆運動學仿真結果表明,關節(jié)1、3、7速度最小范數(shù)解、位置與加速度均滿足運動要求,無異常波動現(xiàn)象,能夠實現(xiàn)控制;而關節(jié)2、4、5、6速度在仿真時間t=[4.7197s,5s]時速度、位置和加速度出現(xiàn)異常振蕩,關節(jié)運動失控,從而引起系統(tǒng)振動,其運動性能需進一步改進。
The cooperative flexible manipulators system has many advantages, such as low consumption, small drivers, high speed and great ratio of load to weight and high reliability . when applied to the field of military affairs, aeronautics, medicine and so on it has more prominent predominance than single manipulator 柔性機械臂協(xié)調操作系統(tǒng)具有能耗低、驅動裝置小、操作速度快、載重自重比高、可靠性高等優(yōu)點,在軍事、宇航、醫(yī)學等領域中的應用有著顯著的優(yōu)勢,因而成為機器人研究和應用領域的熱門課題。
During the period of the structure designing, the mode of modularization, integration, miniaturization and the structure optimization is introduced to obtain the goal of simplifying the pipeline, reducing the leak of the hydraulic cylinder, decreasing the manufacture and maintenance costs of this manipulator system, overcoming the shortcomings of some traditional hydraulic systems effectively . the practicability, flexibility and reliability of this advanced hydraulic joint is demonstrated according to its " remarkable characteristic of decoupling, tracking, avoiding the obstacle 在結構設計中,融入了模塊化、小型化、集成化與結構優(yōu)化等設計思想,達到了簡化系統(tǒng)管路、控制系統(tǒng)泄漏、降低系統(tǒng)制造與維護成本等設計目的,有效地克服了傳統(tǒng)液壓裝置的不足;通過對該關節(jié)的解耦特性、跟蹤特性、避障特性進行分析和論證,進一步明確了這種新型關節(jié)的先進性、實用性與可靠性。
It includes the noumenon ( the design of machinery ), the execution ( the design of drivers ) and the control system . it's main functions and hard / software were introduced . this automatic potting pastern manipulator system is in the charge of integrated application of drc ( data record control ) and plc 該系統(tǒng)的核心部分(技術關鍵部分)是自動涂膠機械手的控制系統(tǒng),其控制系統(tǒng)主要是以drc(數(shù)據(jù)記錄控制計算機)和日本三菱fx1系列可編程序控制器(plc)為基礎進行集成控制的。