二元扩域超奇异Koblitz曲线是目前双线性对计算中被广泛采用的曲线。研究二元扩域超奇异Koblitz曲线上标量乘的快速实现算法。由于Koblitz曲线存在特殊的自同态映射τ,使得标量乘算法可以由"double-and-add"算法变成"τ-...二元扩域超奇异Koblitz曲线是目前双线性对计算中被广泛采用的曲线。研究二元扩域超奇异Koblitz曲线上标量乘的快速实现算法。由于Koblitz曲线存在特殊的自同态映射τ,使得标量乘算法可以由"double-and-add"算法变成"τ-and-add"算法,因此可以大大提高标量乘的运算效率。基于这个思想,提出了二元扩域超奇异Koblitz曲线上基于τ的非相邻表示型TNAF(τ-adic Non-Adjacent Form)窗口标量乘的实现算法;同时,为了抵御简单功耗分析SPA(Simple Power Analysis)攻击,将TNAF算法进一步改进为规则序列TNAF算法。以窗口取4为例,在同等安全强度下,规则序列TNAF4算法的运算效率比传统的二进制规则序列NAF4标量乘算法提高50%,比传统的Montgomery标量乘算法提高23%。展开更多
In order to improve the trajectory tracking precision and reduce the synchronization error of a 6-DOF lightweight robot, nonlinear proportion-deviation （N-PD） cross-coupling synchronization control strategy based on...In order to improve the trajectory tracking precision and reduce the synchronization error of a 6-DOF lightweight robot, nonlinear proportion-deviation （N-PD） cross-coupling synchronization control strategy based on adjacent coupling error analysis is presented. The mathematical models of the robot, including kinematic model, dynamic model and spline trajectory planing, are established and verified. Since it is difficult to describe the real-time contour error of the robot for complex trajectory, the adjacent coupling error is analyzed to solve the problem. Combined with nonlinear control and coupling performance of the robot, N-PD cross-coupling synchronization controller is designed and validated by simulation analysis. A servo control experimental system which mainly consists of laser tracking system, the robot mechanical system and EtherCAT based servo control system is constructed. The synchronization error is significantly decreased and the maximum trajectory error is reduced from 0.33 mm to 0.1 mm. The effectiveness of the control algorithm is validated by the experimental results, thus the control strategy can improve the robot＇s trajectory tracking precision significantly.展开更多
文摘二元扩域超奇异Koblitz曲线是目前双线性对计算中被广泛采用的曲线。研究二元扩域超奇异Koblitz曲线上标量乘的快速实现算法。由于Koblitz曲线存在特殊的自同态映射τ,使得标量乘算法可以由"double-and-add"算法变成"τ-and-add"算法,因此可以大大提高标量乘的运算效率。基于这个思想,提出了二元扩域超奇异Koblitz曲线上基于τ的非相邻表示型TNAF(τ-adic Non-Adjacent Form)窗口标量乘的实现算法;同时,为了抵御简单功耗分析SPA(Simple Power Analysis)攻击,将TNAF算法进一步改进为规则序列TNAF算法。以窗口取4为例,在同等安全强度下,规则序列TNAF4算法的运算效率比传统的二进制规则序列NAF4标量乘算法提高50%,比传统的Montgomery标量乘算法提高23%。
基金Project(2015AA043003)supported by National High-technology Research and Development Program of ChinaProject(GY2016ZB0068)supported by Application Technology Research and Development Program of Heilongjiang Province,ChinaProject(SKLR201301A03)supported by Self-planned Task of State Key Laboratory of Robotics and System(Harbin Institute of Technology),China
文摘In order to improve the trajectory tracking precision and reduce the synchronization error of a 6-DOF lightweight robot, nonlinear proportion-deviation （N-PD） cross-coupling synchronization control strategy based on adjacent coupling error analysis is presented. The mathematical models of the robot, including kinematic model, dynamic model and spline trajectory planing, are established and verified. Since it is difficult to describe the real-time contour error of the robot for complex trajectory, the adjacent coupling error is analyzed to solve the problem. Combined with nonlinear control and coupling performance of the robot, N-PD cross-coupling synchronization controller is designed and validated by simulation analysis. A servo control experimental system which mainly consists of laser tracking system, the robot mechanical system and EtherCAT based servo control system is constructed. The synchronization error is significantly decreased and the maximum trajectory error is reduced from 0.33 mm to 0.1 mm. The effectiveness of the control algorithm is validated by the experimental results, thus the control strategy can improve the robot＇s trajectory tracking precision significantly.
