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A nonlinear observer for elastic robots 弹性机器人的非线性观测器
Pub Date : 1988-02-01 DOI: 10.1109/56.770
S. Nicosia, P. Tomei, A. Tornambè
Robot manipulators in which the joints exhibit a certain amount of elasticity are discussed. The model of such robots is highly nonlinear, and available techniques to build nonlinear observers generally do not apply. A procedure to construct approximate nonlinear observers is proposed that uses a recent approach to deriving observers based on geometric nonlinear control theory together with an approximation technique. The conditions under which an exact observer exists are derived. Some examples are given for which simulation tests assure a good performance even when the observer is connected to a control system. >
讨论了关节具有一定弹性的机械臂。这类机器人的模型是高度非线性的,现有的建立非线性观测器的技术通常不适用。提出了一种构造近似非线性观测器的方法,该方法采用基于几何非线性控制理论和近似技术的最新方法来推导观测器。导出了精确观察者存在的条件。给出了一些实例,通过仿真测试,即使观测器连接到控制系统,也能保证良好的性能。>
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引用次数: 103
Analysis of discrete dynamic robot models 离散动态机器人模型分析
Pub Date : 1987-12-01 DOI: 10.1109/JRA.1987.1087135
Tsu-Tian Lee, Yuh-Feng Tsay
The discrete shift-transformation matrix of general orthogonal polynomials is introduced. The discrete shift-transformation matrix is employed to transform the difference equations, which describe the discrete dynamic robot model, into algebraic equations. Several lemmas are introduced which, together with the discrete shift-transformation matrix, solve for the joint positions and velocities of discrete dynamic robot models via discrete orthogonal polynomials approximations. The initial numerical experiment with a cylindrical coordinate robot shows the feasibility and applicability of discrete orthogonal polynomials approximations.
介绍了一般正交多项式的离散位移变换矩阵。采用离散位移变换矩阵将描述离散动态机器人模型的差分方程转化为代数方程。引入了几个引理,结合离散位移变换矩阵,通过离散正交多项式逼近求解离散动态机器人模型的关节位置和速度。通过圆柱坐标机器人的初步数值实验,验证了离散正交多项式逼近的可行性和适用性。
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引用次数: 4
A closed-form solution for inverse kinematics of robot manipulators with redundancy 具有冗余度的机械臂逆运动学的封闭解
Pub Date : 1987-10-01 DOI: 10.1109/JRA.1987.1087114
P. Chang
A closed-form solution formula for inverse kinematics of manipulators with redundancy is derived using the Lagrangian multiplier method. The proposed method is proved to provide the exact equilibrium state for the resolved-motion method. The repeatability problem in the resolved-motion method does not exist in the proposed method. The method is demonstrated to give more accurate trajectories than the resolved-motion method.
利用拉格朗日乘子法导出了具有冗余度的机械臂逆运动学的封闭解公式。结果表明,该方法可为解析运动方法提供精确的平衡状态。该方法不存在运动解算法中的重复性问题。结果表明,该方法比解析运动方法能给出更精确的运动轨迹。
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引用次数: 111
A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses 一种多功能相机校准技术,用于高精度3D机器视觉计量,使用现成的电视摄像机和镜头
Pub Date : 1987-08-01 DOI: 10.1109/JRA.1987.1087109
R. Tsai
A new technique for three-dimensional (3D) camera calibration for machine vision metrology using off-the-shelf TV cameras and lenses is described. The two-stage technique is aimed at efficient computation of camera external position and orientation relative to object reference coordinate system as well as the effective focal length, radial lens distortion, and image scanning parameters. The two-stage technique has advantage in terms of accuracy, speed, and versatility over existing state of the art. A critical review of the state of the art is given in the beginning. A theoretical framework is established, supported by comprehensive proof in five appendixes, and may pave the way for future research on 3D robotics vision. Test results using real data are described. Both accuracy and speed are reported. The experimental results are analyzed and compared with theoretical prediction. Recent effort indicates that with slight modification, the two-stage calibration can be done in real time.
介绍了一种利用现成的电视摄像机和镜头进行机器视觉测量的三维摄像机标定的新技术。两阶段技术的目标是有效计算相机相对于目标参考坐标系的外部位置和方向,以及有效焦距、径向透镜畸变和图像扫描参数。与现有技术相比,两阶段技术在准确性、速度和多功能性方面具有优势。一开始就对目前的技术状况进行了批判性的回顾。建立了一个理论框架,并在五个附录中进行了全面的论证,为未来3D机器人视觉的研究铺平了道路。描述了使用实际数据的测试结果。精度和速度都有报道。对实验结果进行了分析,并与理论预测进行了比较。最近的研究表明,只需稍加修改,就可以实时完成两阶段校准。
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引用次数: 6604
An integral manifold approach to the feedback control of flexible joint robots 柔性关节机器人反馈控制的积分流形方法
Pub Date : 1987-08-01 DOI: 10.1109/JRA.1987.1087102
M. Spong, K. Khorasani, P. Kokotovic
The control problem for robot manipulators with flexible joints is considered. The results are based on a recently developed singular perturbation formulation of the manipulator equations of motion where the singular perturbation parameter µ is the inverse of the joint stiffness. For this class of systems it is known that the reduced-order model corresponding to the mechanical system under the assumption of perfect rigidity is globally linearizable via nonlinear static-state feedback, but that the full-order flexible system is not, in general, linearizable in this manner. The concept of integral manifold is utilized to represent the dynamics of the slow subsystem. The slow subsystem reduces to the rigid model as the perturbation parameter µ tends to zero. It is shown that linearizability of the rigid model implies linearizability of the flexible system restricted to the integral manifold. Based on a power series expansion of the integral manifold around µ = 0, it is shown how to approximate the feedback linearizing control to any order in µ. The result is then an approximate feedback linearization which, assuming stability of the fast variables, linearizes the system for all practical purposes.
研究了柔性关节机器人的控制问题。该结果基于最近开发的机械臂运动方程的奇异摄动公式,其中奇异摄动参数μ是关节刚度的逆。对于这类系统,已知在完全刚性假设下的机械系统对应的降阶模型通过非线性静态反馈是全局线性化的,但对于全阶柔性系统,通常不是这样线性化的。采用积分流形的概念来表示慢速子系统的动力学特性。当扰动参数μ趋于零时,慢子系统退化为刚性模型。证明了刚性模型的线性化意味着限于积分流形的柔性系统的线性化。基于积分流形在μ = 0附近的幂级数展开式,给出了如何将反馈线性化控制近似到μ中的任意阶。结果是一个近似的反馈线性化,假设快速变量的稳定性,线性化系统为所有实际目的。
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引用次数: 441
Real-time DKS on a single chip 单片实时DKS
Pub Date : 1987-08-01 DOI: 10.1109/JRA.1987.1087106
S. S. Leung, M. Shanblatt
The desire to add more intelligent functionality and enhanced real-time Control capability to robotic systems places a heavy demand on computational resources. Nascent application-specific VLSI technology offers an unprecedented opportunity to relieve this computational burden by implementing specific robotic functions directly in hardware. A VLSI architecture, designed to compute the direct kinematic solution (DKS) on a single chip, is described. The DKS chip features fixed-point calculation and on-chip generation of trigonometric functions. The calculation achieves the resolution required for most industrial applications. Innovative modifications of the conventional adder control and the form of the homogeneous transformation matrix have improved throughput. Simulation results indicate that speed improvements of several orders of magnitude in the kinematic computation are achievable with application-specific integrated circuit technology, compared to microprocessor implementation.
为机器人系统增加更多智能功能和增强实时控制能力的愿望对计算资源提出了大量需求。新兴的专用VLSI技术提供了一个前所未有的机会,通过直接在硬件中实现特定的机器人功能来减轻这种计算负担。描述了一种用于在单芯片上计算直接运动解(DKS)的VLSI架构。DKS芯片具有定点计算和片上生成三角函数的功能。该计算达到了大多数工业应用所需的分辨率。对传统加法器控制和齐次变换矩阵形式的创新改进提高了吞吐量。仿真结果表明,与微处理器实现相比,采用专用集成电路技术可以实现运动学计算速度的几个数量级的提高。
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引用次数: 26
Computer-aided joint error analysis of robots 计算机辅助机器人关节误差分析
Pub Date : 1987-08-01 DOI: 10.1109/JRA.1987.1087112
B. Benhabib, R. G. Fenton, A. Goldenberg
Various definitions of task-space tolerances, using geometric pseudoenvelopes, are introduced, and new approaches to "direct" and "inverse" joint-error analysis of robots are formulated. These error analyses lead to the development of a "feasible joint-tolerance domain" concept for use in computer-aided design of robots.
介绍了使用几何伪包络的任务空间公差的各种定义,并制定了机器人“直接”和“逆”关节误差分析的新方法。这些误差分析导致了“可行关节公差域”概念的发展,用于机器人的计算机辅助设计。
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引用次数: 36
Robotic manipulators and the geometry of real semialgebraic sets 机器人操纵器与实半代数集的几何
Pub Date : 1987-08-01 DOI: 10.1109/JRA.1987.1087105
A. Tannenbaum, Y. Yomdin
Some modern techniques are applied from real semialgebraic geometry to the robotic manipulator problem. In particular, using the notion of "metric entropy," the complexity of maneuvering the manipulator from state to state is discussed.
将实半代数几何中的一些现代技术应用于机械臂问题。特别地,使用“度量熵”的概念,讨论了操纵器从一个状态到另一个状态的复杂性。
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引用次数: 23
A viewpoint independent modeling approach to object recognition 一种视点独立的目标识别建模方法
Pub Date : 1987-08-01 DOI: 10.1109/JRA.1987.1087104
M. Magee, M. Nathan
A robotic vision system is being developed which uses three-dimensional laser range data to sense its environment. The recognition subsystem incorporates topological as well as geometric information to identify viewed objects. Theorem-proving techniques are used to produce symbolic pattern matches. The major contributions of the recognition subsystem are 1) the use of viewpoint independent descriptors as the basis for representing known object models and 2) the use of theorem proving techniques to hypothesize object identities and recognize the viewed object as an instance of the appropriate viewpoint independent model descriptor. The representation scheme permits describing objects at a variety of topological and geometric levels. Furthermore, the use of viewpoint independent descriptors facilitates object recognition from a single arbitrary view despite missing information or the inclusion of viewpoint dependent artifacts. The theorem-proving approach establishes a symbolic correspondence between viewpoint independent features in the (recognized) model and features in the observed data. The recognition process uses a three-phase approach. First, hypotheses are generated which correspond to model descriptors that are likely to match the data. Evidence is applied to viable hypotheses to produce a partial match. The partial match is then used to constrain the full recognition process which leads to object identification. This strategy has been found to constrain strongly the search space of possible matches and leads to large reductions in recognition times. Results of the recognition process on synthetic and actual laser range data are presented for several objects. The system is shown to operate with robustness and alacrity.
一种机器人视觉系统正在开发中,它使用三维激光距离数据来感知其环境。识别子系统结合拓扑和几何信息来识别被观察的物体。定理证明技术用于生成符号模式匹配。识别子系统的主要贡献是:1)使用视点独立描述符作为表示已知对象模型的基础;2)使用定理证明技术来假设对象身份,并将被查看的对象识别为适当的视点独立模型描述符的实例。该表示方案允许在各种拓扑和几何级别上描述对象。此外,视点独立描述符的使用有助于从单个任意视图识别对象,尽管缺少信息或包含视点相关工件。定理证明方法在(识别)模型中的视点无关特征与观测数据中的特征之间建立了符号对应关系。识别过程采用三个阶段的方法。首先,生成与可能与数据匹配的模型描述符相对应的假设。证据被应用于可行的假设,以产生部分匹配。然后使用部分匹配来约束完整的识别过程,从而导致对象识别。研究发现,这种策略强烈地限制了可能匹配的搜索空间,并大大减少了识别时间。给出了几种目标激光距离数据的识别结果。该系统具有鲁棒性和敏捷性。
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引用次数: 7
Effect of kinematics on motion planning for planar robot arms moving amidst unknown obstacles 运动学对平面机械臂在未知障碍物中运动规划的影响
Pub Date : 1987-06-01 DOI: 10.1109/JRA.1987.1087094
V. Lumelsky
An approach of dynamic path planning (DPP) was introduced elsewhere, and nonheuristic algorithms were described for planning collision-free paths for a point automaton moving in an environment filled with unknown obstacles of arbitrary shape. The DPP approach was further extended to a planar robot arm with revolute joints; in this case, every point of the robot body is subject to collision. Under the accepted model, the robot, using information about its immediate surroundings provided by the sensory feedback, continuously (dynamically) generates its path. Various kinematic configurations of planar arms with revolute and sliding joints are analyzed in this paper from the standpoint of applying the same strategy. It is shown that, depending on the arm kinematics, specific modifications must be introduced in the path planning algorithm to preserve convergence. The approach presents an attractive method for robot motion planning in unstructured environments with uncertainty.
介绍了一种动态路径规划(DPP)方法,并描述了在充满任意形状未知障碍物的环境中运动的点自动机的无碰撞路径规划的非启发式算法。将DPP方法进一步推广到具有转动关节的平面机械臂;在这种情况下,机器人身体的每一点都受到碰撞。在公认的模型下,机器人利用感官反馈提供的关于其周围环境的信息,连续地(动态地)生成其路径。从采用同一策略的角度分析了平面机械臂的各种运动构型。结果表明,根据机械臂的运动情况,必须对路径规划算法进行特定的修改以保持收敛性。该方法为具有不确定性的非结构化环境下的机器人运动规划提供了一种有吸引力的方法。
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引用次数: 86
期刊
IEEE J. Robotics Autom.
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