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串联机器人雅可比矩阵的高阶逻辑形式化 被引量:4
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作者 杨秀梅 施智平 +3 位作者 吴爱轩 关永 叶世伟 张杰 《小型微型计算机系统》 CSCD 北大核心 2016年第4期726-731,共6页
机器人雅可比矩阵是描述机器人运动性能的重要参数,保证机器人雅可比矩阵的描述、求解及分析的正确性和可靠性非常重要.然而传统的数值计算与计算机代数符号方法不能给出100%精确和完备的分析与验证.基于高阶逻辑定理证明技术固有的高... 机器人雅可比矩阵是描述机器人运动性能的重要参数,保证机器人雅可比矩阵的描述、求解及分析的正确性和可靠性非常重要.然而传统的数值计算与计算机代数符号方法不能给出100%精确和完备的分析与验证.基于高阶逻辑定理证明技术固有的高可靠性和证明完备性,以运动旋量和串联机器人正向运动学指数积公式为数学基础,在高阶逻辑定理证明器HOL4中建立串联机器人正向运动学的形式化模型,对其旋量法描述的速度雅可比矩阵进行严格的形式化分析与验证.最后通过对Stanford机器人的雅可比矩阵的形式化分析,说明本文形式化工作的实用性和正确性. 展开更多
关键词 机器人雅可比矩阵 运动旋量 HOL4 形式化验证
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机器人位移逆解MATLAB实现与多值判别
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作者 贾小刚 《机械工程师》 2010年第9期15-17,共3页
文中对关节机器人位移逆解的多值选择问题进行了分析,选择位置逆解中排除运动范围外的结果,选用与上一解运动趋势相同的解。描述了回避球形手腕奇异位置的方法,实时考察手臂是否接近奇异状态,随后保持末端位姿,调整奇异位形关节的动作... 文中对关节机器人位移逆解的多值选择问题进行了分析,选择位置逆解中排除运动范围外的结果,选用与上一解运动趋势相同的解。描述了回避球形手腕奇异位置的方法,实时考察手臂是否接近奇异状态,随后保持末端位姿,调整奇异位形关节的动作。给出了选择逆解和回避奇异位置的算法流程。 展开更多
关键词 机器人运动学逆解 机器人奇异位置 机器人雅可比
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Design considerations of high precision 6-HTRT parallel manipulator 被引量:2
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作者 张秀峰 孙立宁 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2006年第3期320-324,共5页
Describes a new architecture of a parallel robot with six degrees of freedom and focuses on improving orientation accuracy of movable platform in mechanism, error correction and control methods. A set of formulations ... Describes a new architecture of a parallel robot with six degrees of freedom and focuses on improving orientation accuracy of movable platform in mechanism, error correction and control methods. A set of formulations about inverse kinematics, Jacobin matrix, and forward kinematics for the high precision 6-HTRT parallel robots is presented. The analysis of errors existing in the manipulator is discussed and a novel approach for error correction is advanced. By DSP technique, inverse kinematics is solved in real time conditions with high precision and the hardware control system is given. The experimental results demonstrate the effectiveness of the proposed technique. 展开更多
关键词 parallel robot inverse kinematics forward kinematics Jacobian error correction
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Dynamics of five-bar COBOT using differential mechanism
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作者 Li-xun Zhang Dun-min Lu +1 位作者 Lan Wang Jin-hua Shen and R. Bernhard 《Journal of Marine Science and Application》 2003年第2期72-75,共4页
COBOT is a new kind of collaborative robot , which can work with people in a shared space. In this paper a new kind of CVT using differential mechanism is introduced, which is major parts of five-bar COBOT and based t... COBOT is a new kind of collaborative robot , which can work with people in a shared space. In this paper a new kind of CVT using differential mechanism is introduced, which is major parts of five-bar COBOT and based the feature of nonhlonnmic constraint. The dynamic model of differential mechanism and five-bar architecture COBOT is founded. There are two kinds of coupled mode of two CVT:serial and parallel. In this paper, we present the dynamic model of serial and parallel COBOT take five-bar COBOT as research object. From the dynamic analysis foregoing, both serial and parallel COBOT model are have the feature of nonholonomic constraint. The ending track and moving state are controlled by the force of control motor and operator. The control motor can not control the movement and ending track of COBOT without the cooperation of operator. 展开更多
关键词 COBOT five-bar differential mechanism CVT
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Uncalibrated visual servoing design for competitive networked robots
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作者 卢翔 Liu Jingtai +2 位作者 Yu Kaiyan Li Yan Sun Lei 《High Technology Letters》 EI CAS 2013年第4期413-421,共9页
In this paper,a method with an eye-in-hand configuration is developed to hit targets during visual tracking for the TLS(Tele-Light Saber) game.It is not necessary to calibrate camera parameters and predict the traject... In this paper,a method with an eye-in-hand configuration is developed to hit targets during visual tracking for the TLS(Tele-Light Saber) game.It is not necessary to calibrate camera parameters and predict the trajectory of the moving object.Firstly,the expression of the image Jacobian matrix for the eye-in-hand configuration is proposed,and then an update law is designed to estimate the image Jacobian online.Furthermore,a control scheme is presented and the Lyapunov method is employed to prove asymptotic convergence of image errors.No assumption for the moving objects is needed.Finally,both simulation and experimental results are shown to support the approach in this paper. 展开更多
关键词 visual servoing uncalibrated eye-in-hand robust information filter Lyapunov method
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