In this paper, coordinated control of multiple robot manipulators holding a rigid object is discussed. In consideration of inaccuracy of the dynamic model of a multiple manipulator system, the error equations on obje...In this paper, coordinated control of multiple robot manipulators holding a rigid object is discussed. In consideration of inaccuracy of the dynamic model of a multiple manipulator system, the error equations on object position and internal force are derived. Then a hybrid position/force coordinated learning control scheme is presented and its convergence is proved. The scheme can improve the system performance by modifying the control input of the system after each iterative learning. Simulation results of two planar robot manipulators holding an object show the effectiveness of this control scheme.展开更多
This paper proposes a new coordination method for multi-robot system.The state space for a multi-robot system is constructed according to the task requirements and system characteristics.Reachable statefor the system ...This paper proposes a new coordination method for multi-robot system.The state space for a multi-robot system is constructed according to the task requirements and system characteristics.Reachable statefor the system is constrained by the system s internal and external constraints,under which the task isexecutable if there exists a state transition trajectory from the initial to the goal state in its state space.Ifthe task is realizable,the feasible or the optimal strategy for task execution could then be investigated inthe state space.Otherwise,the task could be modified to be realizable via adjusting system s configura-tions and/or task constraints,which provides critical guidance for system reconstructions.This con-tributes to the designing and planning of the robotic tasks.Experiments of multi-robot formation movementare conducted to show the validity of the proposed method.展开更多
Single-camera mobile-vision coordinate measurement is one of the primary methods of 3D-coordinate vision measurement, and coded target plays an important role in this system. A multifunctional coded target and its rec...Single-camera mobile-vision coordinate measurement is one of the primary methods of 3D-coordinate vision measurement, and coded target plays an important role in this system. A multifunctional coded target and its recognition algorithm is developed, which can realize automatic match of feature points, calculation of camera initial exterior orientation and space scale factor constraint in measurement system. The uniqueness and scalability of coding are guaranteed by the rational arrangement of code bits. The recognition of coded targets is realized by cross-ratio invariance restriction, space coordinates transform of feature points based on spacial pose estimation algorithm, recognition of code bits and computation of coding values. The experiment results demonstrate the uniqueness of the coding form and the reliability of recognition.展开更多
文摘In this paper, coordinated control of multiple robot manipulators holding a rigid object is discussed. In consideration of inaccuracy of the dynamic model of a multiple manipulator system, the error equations on object position and internal force are derived. Then a hybrid position/force coordinated learning control scheme is presented and its convergence is proved. The scheme can improve the system performance by modifying the control input of the system after each iterative learning. Simulation results of two planar robot manipulators holding an object show the effectiveness of this control scheme.
基金Supported by the National Natural Science Foundation for Distinguished Young Scholars Abroad (No. 60428303)
文摘This paper proposes a new coordination method for multi-robot system.The state space for a multi-robot system is constructed according to the task requirements and system characteristics.Reachable statefor the system is constrained by the system s internal and external constraints,under which the task isexecutable if there exists a state transition trajectory from the initial to the goal state in its state space.Ifthe task is realizable,the feasible or the optimal strategy for task execution could then be investigated inthe state space.Otherwise,the task could be modified to be realizable via adjusting system s configura-tions and/or task constraints,which provides critical guidance for system reconstructions.This con-tributes to the designing and planning of the robotic tasks.Experiments of multi-robot formation movementare conducted to show the validity of the proposed method.
文摘Single-camera mobile-vision coordinate measurement is one of the primary methods of 3D-coordinate vision measurement, and coded target plays an important role in this system. A multifunctional coded target and its recognition algorithm is developed, which can realize automatic match of feature points, calculation of camera initial exterior orientation and space scale factor constraint in measurement system. The uniqueness and scalability of coding are guaranteed by the rational arrangement of code bits. The recognition of coded targets is realized by cross-ratio invariance restriction, space coordinates transform of feature points based on spacial pose estimation algorithm, recognition of code bits and computation of coding values. The experiment results demonstrate the uniqueness of the coding form and the reliability of recognition.
