欢迎来到人人文库网! | 帮助中心 人人文库renrendoc.com美如初恋!
人人文库网
首页 人人文库网 > 资源分类 > PDF文档下载

外文翻译--由一些非完整移动机械臂共同运输有效载荷的运动学兼容框架.pdf

  • 资源大小:2.60MB        全文页数:32页
  • 资源格式: PDF        下载权限:游客/注册会员/VIP会员    下载费用:5
游客快捷下载 游客一键下载
会员登录下载
下载资源需要5

邮箱/手机号:
您支付成功后,系统会自动为您创建此邮箱/手机号的账号,密码跟您输入的邮箱/手机号一致,以方便您下次登录下载和查看订单。注:支付完成后需要自己下载文件,并不会自动发送文件哦!

支付方式: 微信支付    支付宝   
验证码:   换一换

友情提示
2、本站资源不支持迅雷下载,请使用浏览器直接下载(不支持QQ浏览器)
3、本站资源下载后的文档和图纸-无水印,预览文档经过压缩,下载后原文更清晰   

外文翻译--由一些非完整移动机械臂共同运输有效载荷的运动学兼容框架.pdf

AUTONROBOT200621227–242DOI101007/S1051400597179AKINEMATICALLYCOMPATIBLEFRAMEWORKFORCOOPERATIVEPAYLOADTRANSPORTBYNONHOLONOMICMOBILEMANIPULATORSMABOUSAMAHCPTANGRMBHATTVKROVIRECEIVED5AUGUST2005/REVISED25MAY2006/ACCEPTED30MAY2006/PUBLISHEDONLINE5SEPTEMBER2006CSPRINGERSCIENCEBUSINESSMEDIA,LLC2006ABSTRACTINTHISPAPER,WEEXAMINETHEDEVELOPMENTOFAKINEMATICALLYCOMPATIBLECONTROLFRAMEWORKFORAMODULARSYSTEMOFWHEELEDMOBILEMANIPULATORSTHATCANTEAMUPTOCOOPERATIVELYTRANSPORTACOMMONPAYLOADEACHINDIVIDUALLYAUTONOMOUSMOBILEMANIPULATORCONSISTSOFADIFFERENTIALLYDRIVENWHEELEDMOBILEROBOTWMRWITHAMOUNTEDTWODEGREEOFFREEDOMDOFREVOLUTEJOINTED,PLANARANDPASSIVEMANIPULATORARMTHECOMPOSITEWHEELEDVEHICLE,FORMEDBYPLACINGAPAYLOADATTHEENDEFFECTORSOFTWOORMORESUCHMOBILEMANIPULATORS,HASTHECAPABILITYTOACCOMMODATE,DETECTANDCORRECTBOTHINSTANTANEOUSANDFINITERELATIVECONFIGURATIONERRORSTHEKINEMATICALLYCOMPATIBLEMOTIONPLANNING/CONTROLFRAMEWORKDEVELOPEDHEREISINTENDEDTOFACILITATEMAINTENANCEOFALLKINEMATICHOLONOMICANDNONHOLONOMICCONSTRAINTSWITHINSUCHSYSTEMSGIVENANARBITRARYENDEFFECTORTRAJECTORY,EACHINDIVIDUALMOBILEMANIPULATOR’SBILEVELHIERARCHICALCONTROLLERFIRSTGENERATESAKINEMATICALLYFEASIBLEDESIREDTRAJECTORYFORTHEWMRBASE,WHICHISTHENTRACKEDBYASUITABLELOWERLEVELPOSTURESTABILIZINGCONTROLLERTWOVARIANTSOFSYSTEMLEVELCOOPERATIVECONTROLSCHEMESLEADERFOLLOWERANDDECENTRALIZEDCONTROLMABOUSAMAHMSCSOFTWARECORPORATION,ANNARBOR,MI48105,USAEMAILGISHMHOTMAILCOMCPTANGRMBHATTVKROVIENVELOPEBACKMECHANICALANDAEROSPACEENGINEERING,STATEUNIVERSITYOFNEWYORKATBUFFALO,BUFFALO,NY14260,USAEMAILVKROVIENGBUFFALOEDUCPTANGEMAILCHINTANGENGBUFFALOEDURMBHATTEMAILRMBHATTENGBUFFALOEDUARETHENCREATEDBASEDONTHEINDIVIDUALMOBILEMANIPULATORCONTROLSCHEMEBOTHMETHODSAREEVALUATEDWITHINANIMPLEMENTATIONFRAMEWORKTHATEMPHASIZESBOTHVIRTUALPROTOTYPINGVPANDHARDWAREINTHELOOPHILEXPERIMENTATIONSIMULATIONANDEXPERIMENTALRESULTSOFANEXAMPLEOFATWOMODULESYSTEMAREUSEDTOHIGHLIGHTTHECAPABILITIESOFAREALTIMELOCALSENSORBASEDCONTROLLERFORACCOMMODATION,DETECTIONANDCORECTIONOFRELATIVEFORMATIONERRORSKEYWORDSCOMPOSITESYSTEMHARDWAREINTHELOOPMOBILEMANIPULATORPHYSICALCOOPERATIONREDUNDANCYRESOLUTIONVIRTUALPROTOTYPING1INTRODUCTIONCOOPERATIONHASBEENTHEKEYTOSUCCESSOFMOSTHUMANENDEAVORSANDTHESIMILARINCORPORATIONOFCOOPERATIONINROBOTICSYSTEMSISCRITICALTOREALIZETHENEXTGENERATIONOFSYSTEMSANDAPPLICATIONSINTERESTINCOOPERATINGSYSTEMSARISESWHENTHETASKSAREINHERENTLYTOOCOMPLEXFORASINGLESYSTEMTOACCOMPLISH;ORWHENBUILDINGANDUSINGSEVERALSIMPLESYSTEMSCANBEMOREFLEXIBLE,FAULTTOLERANTORCHEAPERTHANUSINGASINGLELARGESYSTEMOURGUIDINGVISIONISTOCREATEANDEVALUATEANOVERALLFRAMEWORKFORCOOPERATIVEPAYLOADTRANSPORTUSINGAFLEETOFSEMIAUTONOMOUSWHEELEDMOBILEMANIPULATORMODULESWITHINTHISFRAMEWORKWEEXAMINECOUPLINGOFVARIOUSMODULESTOCREATEALARGERVARIABLETOPOLOGYCOMPOSITEWHEELEDSYSTEM,WITHINHERENTINTERNALRECONFIGURABILITYTOACCOMMODATEDISTURBANCESANDENHANCEPAYLOADMANIPULATIONCAPABILITIESTHEPROPOSEDAPPLICATIONARENARANGESFROMINDUSTRIALAPPLICATIONS,WHERESUITABLENUMBERSOFSUCHMODULESCANBETASKEDTOMANIPULATEVARIABLESIZEDPAYLOADS,TOEXTRATERRESTRIALAPPLICATIONS,WHEREINDIVIDUALROVERMODULESSENTONSEPARATEMISSIONSCANCOOPERATETOSUPPORTPLANETARYSPRINGER228AUTONROBOT200621227–242COLONIZATIONEFFORTSADAMSETAL,1996;JUBERTS,2001;SCHENKERETAL,2000INOURSYSTEM,EACHBASICMODULECONSISTSOFAPASSIVE,PLANAR,TWODEGREEOFFREEDOMDOFREVOLUTEJOINTEDMANIPULATORMOUNTEDONADIFFERENTIALLYDRIVENWHEELEDMOBILEROBOTWMR,ASSHOWNINFIG1AANDCANEFFECTIVEARTICULATEDCOMPLIANTLINKAGEBETWEENTHEWHEELEDBASESISCREATEDWHENACOMMONPAYLOADISPLACEDONTHEENDEFFECTORSOFMULTIPLEADJACENTMODULES,ASSHOWNINFIG1BANDDTHERESULTINGCOMPOSITEVEHICLENOWPOSSESSESATHEABILITYTOACCOMMODATECHANGESINTHERELATIVECONFIGURATIONBYVIRTUEOFTHECOMPLIANTLINKAGE;BAMECHANISMFORDETECTINGSUCHCHANGESUSINGSENSEDARTICULATIONS;ANDCMEANSTOCOMPENSATEFORSUCHDISTURBANCESUSINGTHEREDUNDANTACTUATIONOFTHEBASES,WHILEPERFORMINGTHEPAYLOADTRANSPORTTASK11BACKGROUNDOVERTHEMILLENNIA,WHEELEDPLATFORMDESIGNSWITHMULTIPLESETSOFDISCWHEELSATTACHEDTOACOMMONCHASSISHAVEREMAINEDPOPULARINPAYLOADTRANSPORTAPPLICATIONSSINCETHEYPERMITTHELOADANDTRACTIONFORCESTOBEDISTRIBUTEDBETWEENTHEMULTIPLEWHEELSHOWEVER,THEMOBILITY,STEERABILITY,ANDCONTROLLABILITYOFTHEOVERALLWHEELEDSYSTEMDEPENDLARGELYUPONTHETYPE,NATUREANDLOCATIONSOFTHEATTACHEDWHEELSTHEPROCESSOFSELECTINGANDATTACHINGTHESETOFWHEELSINAMULTIPLEWHEELEDSYSTEMCREATESVARIOUSKINEMATICHOLONOMIC/NONHOLONOMICCOMPATIBILITYCONSTRAINTSARBITRARILYACTUATINGSUCHWHEELSCANPRECIPITATEVIOLATIONOFTHECONSTRAINTSANDRESULTINDEGRADATIONINOVERALLSYSTEMPERFORMANCECAMPIONETAL,1996HENCE,THEDESIGNANDCONTROLOFSUCHVEHICLESNEEDTOFIRSTEXPLICITLYTAKEINTOACCOUNTTHEMAINTENANCEOFTHEKINEMATICCOMPATIBILITYCONDITIONSBEFOREDYNAMICAND/ORCONTACTCONDITIONSCANEVENBECONSIDEREDMOSTDESIGNAPPROACHESCONSIDERTHEADDITIONOFACTIVEORPASSIVEARTICULATIONSBETWEENTHEWHEELSANDCHASSISTOENSUREKINEMATICCOMPATIBILITYTHISISPERTINENTSINCEWECONSIDERFORMATIONOFLARGERCOMPOSITEWHEELEDSYSTEMSBYCOUPLINGTOGETHERMULTIPLEINDIVIDUALWMRSWITHANARTICULATEDCOMPLIANTLINKAGETHISALLOWSSUCHSYSTEMSTOACCOMMODATEMOMENTARYCONTROLLERERRORSWITHOUTTRANSFERRINGANYINTERACTIONFORCESBETWEENTHEWMRSEXAMPLESINCLUDETHECLAPPERANDTHEOMNIMATEBORENSTEINETAL,1996,WHICHFEATURECOMPLIANTLINKAGESWITHTWOPASSIVEREVOLUTEJOINTSANDONEPASSIVEPRISMATICJOINTHOWEVER,THEBIGGESTLIMITATIONOFTHECLAPPER/OMNIMATEDESIGNSCOMESFROMTHEFACTTHATTHETWOWMRSHAVETOSTAYASSEMBLEDTOGETHERBECAUSEOFTHECOMPLIANTLINKAGEFIG1CADMODELSOFTHEAINDIVIDUALMODULEBCOMPOSITEWHEELEDSYSTEMWITHTHEIRCORRESPONDINGPHYSICALPROTOTYPESBELOWINCANDDRESPECTIVELYSPRINGERAUTONROBOT200621227–242229HENCE,WEPROPOSETHEALTERNATEDEVELOPMENTOFACOMPOSITEWHEELEDSYSTEMWITHAMODULARFORMATIONOFTHEARTICULATEDCOMPLIANTLINKAGEBETWEENTHEWHEELEDBASESWHILEWEWILLFOCUSTHEDISCUSSIONAROUNDA2MODULE/PAYLOADCOMPOSITESYSTEMFORTHERESTOFTHEPAPER,WEWOULDLIKETOMAKESOMEGENERALOBSERVATIONSFIRST,OURSELECTIONOFTHETOPOLOGYOFTHEINDIVIDUALMOBILEMANIPULATORMODULESISGUIDEDBYTHEREQUIREMENTFORMODULARITYINTERMSOFEASYATTACHMENT/DETACHMENTOFMULTIPLESUCHMODULESTOACOMMONPAYLOADWHILEMAINTAININGATLEASTTHREEDOFWITHINEACHSUBCHAININTHISLIGHT,WENOTETHATAPASSIVEPLANARFOURBARMECHANISMISFORMEDWHENTWOSUCHMODULESATTACHTOAPAYLOADANDTHISARTICULATEDLINKAGEINTRODUCESMORETHANTHEMINIMUMTHREEREQUIREDDOFBETWEENTHEBASESHOWEVER,SUCHEXCESSMOBILITYWITHINTHEARTICULATEDSUPERSTRUCTUREISELIMINATEDWHENTHEMOREGENERALCASEOFTHREEORMOREMODULESISCONSIDEREDSECOND,WEASSUMETHATTHESECONDLINKSHOWNASA“FLATSUPPORT”INFIG1AISRIGIDLYATTACHEDTOTHEPAYLOADITISWORTHNOTINGTHATAVARIETYOFOTHERJOINTSMAYBEFORMEDBYRELAXINGTHISRIGIDATTACHMENTREQUIREMENT;ADISCUSSIONOFTHESEALTERNATIVES,HOWEVER,ISBEYONDTHESCOPEOFTHISPAPER12RESEARCHISSUESWESEETHATWHILETHEARTICULATEDCOMPLIANTLINKAGERESOLVESTHEISSUEOFMAINTENANCEOFCOMPATIBILITYCONDITIONS,ITINTRODUCESAVARIETYOFOTHERCHALLENGESFIRST,ITCREATESHOLONOMICLOOPCLOSURECONSTRAINTSTHATLIMITTHEDOFHENCE,CAREFULSELECTIONOFTHETYPEANDNUMBEROFJOINTSWITHINTHELINKAGEASWELLASTHECONFIGURATIONPARAMETERSLINKLENGTHSANDINITIALPOSEISCRITICALANDTHESEASPECTSAREEXAMINEDELSEWHEREABOUSAMAHANDKROVI,2002;TANG,2004FURTHER,THERESTRICTIONINDOFDUETOTHEHOLONOMICCONSTRAINTSTRANSLATESINTOTHEFACTTHATNOTALLJOINTSNEEDTOBEACTUATEDTHESELECTIONOFTHELOCATIONOFACTIVEANDPASSIVEJOINTSWITHINTHECOMPLIANTLINKAGEISYETANOTHERDESIGNCHOICETHATPLAYSANIMPORTANTROLEINDETERMININGTHEPAYLOADTRANSPORTPERFORMANCETANGANDKROVI,2004THEUNIQUECONTRIBUTIONSOFTHISPAPERCOMEFROMTHEDEVELOPMENTANDEVALUATIONOFCONTROLSCHEMESFORTHECOMPOSITEWHEELEDVEHICLETHATFACILITATEMAINTENANCEOFALLKINEMATICHOLONOMICANDNONHOLONOMICCONSTRAINTSWITHINSUCHSYSTEMSGIVENANARBITRARYENDEFFECTORTRAJECTORY,EACHINDIVIDUALMOBILEMANIPULATOR’SBILEVELHIERARCHICALCONTROLLERFIRSTGENERATESAKINEMATICALLYFEASIBLEDESIREDTRAJECTORYFORTHEWMRBASE,WHICHISTHENTRACKEDBYASUITABLELOWERLEVELPOSTURESTABILIZINGCONTROLLERWHILETHEMECHANICALARTICULATEDSTRUCTUREFACILITATESACCOMMODATIONOFDISTURBANCESWITHINTHEMOBILEMANIPULATORS,SUCHACONTROLLERENSURESTHEMAINTENANCEOFRELATIVECONFIGURATIONWHILETRACKINGTHEDESIREDENDEFFECTORTRAJECTORYTHECOMPOSITEWHEELEDVEHICLECONTROLLERS,BUILTUPFROMTHESEINDIVIDUALMOBILEMANIPULATORCONTROLLERS,NOWALLOWFORACCOMMODATION,DETECTIONANDCORRECTIONOFRELATIVEFORMATIONERRORSANDHELPMAINTAINDESIREDFORMATIONSTHESESYSTEMLEVELCONTROLLERSAREALSOWELLSUITEDFORONLINEIMPLEMENTATIONFROMTHEVIEWPOINTOFBOTHEASEOFINCORPORATIONOFLOCALSENSORDATAANDCOMPUTATIONALEFFICIENCYTHERESTOFTHEPAPERISORGANIZEDASFOLLOWSSECTION2PROVIDESABRIEFSUMMARYOFTHEPERTINENTLITERATUREINSECTION3,WEPRESENTTHEDEVELOPMENTOFTHEKINEMATICALLYCOMPATIBLECONTROLLERSFORTHEINDIVIDUALMOBILEMANIPULATORSTHATCANHELPMAINTAINADESIREDCONFIGURATIONWHILETRACKINGAGIVENENDEFFECTORMOTIONTRAJECTORYINSECTION4,WEDERIVETWOVARIANTSOFSYSTEMLEVELCOOPERATIVECONTROLSCHEMESLEADERFOLLOWERANDDECENTRALIZED–BASEDONTHECONTROLLERSDEVELOPEDFORTHEINDIVIDUALMOBILEMANIPULATORSECTION5DESCRIBESTHEHARDWAREANDSOFTWAREIMPLEMENTATIONFRAMEWORKOFOURSYSTEMWITHEXPERIMENTALRESULTSPRESENTEDINSECTION6SECTION7CONCLUDESTHEPAPERWITHADISCUSSION2LITERATURESURVEYMOBILEMANIPULATORSYSTEMSARETYPICALLYCOMPOSEDOFAWMRPLATFORMWITHONEORMOREMOUNTEDMANIPULATORSHONZIK,2000;SERAJI,1998;YAMAMOTO,1994;YAMAMOTOANDYUN,1994WHILETRACK,GANTRYORMANIPULATORBASESMAYBEMODELEDANDANALYZEDEASILY,WMRBASESOFFERSPECIALCHALLENGESWMRSCANNOTBESTABILIZEDTOASINGLEEQUILIBRIUMPOINTBYACONTINUOUSSMOOTHTIMEINVARIANTPURESTATEFEEDBACKLAW,DUETOTHEVIOLATIONOFBROCKETT’SCONDITIONBROCKETT,1981HENCE,THEMOTIONPLANNINGANDCONTROLOFSUCHWMRSREQUIRESSPECIALTREATMENTCANUDASDEWITTETAL,1996;LATOMBE,1991;LIANDCANNY,1993;MURRAYANDSASTRY,1993CONCOMITANTLYTHECLASSOFNONHOLONOMICMOBILEMANIPULATORWITHSUCHBASESREQUIRESCAREFULHANDINGFURTHER,COMBININGTHEMOBILITYOFTHEBASEPLATFORMANDTHEMOUNTEDMANIPULATORCREATESREDUNDANCYSERAJI,1998;YAMAMOTOANDYUN,1994THEDETERMINATIONOFTHEACTUATORRATESFORAGIVENENDEFFECTORMOTIONOFAREDUNDANTMANIPULATORISTYPICALLYANUNDERCONSTRAINEDPROBLEMBUTESSENTIALFORMOTIONPLANNING/CONTROLOFSUCHSYSTEMSMOSTOFTHEREDUNDANCYRESOLUTIONMETHODSAVAILABLEINTHELITERATUREHAVEAPRINCIPALUNDERLYINGTHEMEOFOPTIMIZINGAMEASUREOFPERFORMANCEBASEDONKINEMATICSORINSOMECASESTHEDYNAMICSOFTHESYSTEMSEENAKAMURA1991FORAREVIEWOFTHESEMETHODSSEVERALOFTHESERESULTSHAVEBEENEXTENDEDANDAPPLIEDTOMOBILE

注意事项

本文(外文翻译--由一些非完整移动机械臂共同运输有效载荷的运动学兼容框架.pdf)为本站会员(英文资料库)主动上传,人人文库网仅提供信息存储空间,仅对用户上传内容的表现方式做保护处理,对上载内容本身不做任何修改或编辑。 若此文所含内容侵犯了您的版权或隐私,请立即通知人人文库网(发送邮件至[email protected]或直接QQ联系客服),我们立即给予删除!

温馨提示:如果因为网速或其他原因下载失败请重新下载,重复下载不扣分。

关于我们 - 网站声明 - 网站地图 - 资源地图 - 友情链接 - 网站客服客服 - 联系我们

网站客服QQ:2846424093    人人文库上传用户QQ群:460291265   

[email protected] 2016-2018  renrendoc.com 网站版权所有   南天在线技术支持

经营许可证编号:苏ICP备12009002号-5