毕业设计机械手外文翻译.doc
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外文翻译
译文题目一种与移动机械臂的部分零件所受载荷相协调的运动结构
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原稿题目Akinematicallycompatibleframeworkforcooperativepayloadtransportbynonholonomicmobilemanipulators
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原稿出处AutonRobot(2006)21:
227–242
Akinematicallycompatibleframeworkforcooperativepayloadtransportbynonholonomicmobilemanipulators
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M. Abou-Samah1 ,C. P. Tang2 ,R. M. Bhatt2 andV. Krovi2
(1) MSCSoftwareCorporation,AnnArbor,MI 48105,USA
(2) MechanicalandAerospaceEngineering,StateUniversityofNewYorkatBuffalo,Buffalo,NY 14260,USA
Received:
5 August 2005 Revised:
25 May 2006 Accepted:
30 May 2006 Publishedonline:
5 September 2006
Abstract Inthispaper,weexaminethedevelopmentofakinematicallycompatiblecontrolframeworkforamodularsystemofwheeledmobilemanipulatorsthatcanteamuptocooperativelytransportacommonpayload.Eachindividuallyautonomousmobilemanipulatorconsistsofadifferentially-drivenWheeledMobileRobot(WMR)withamountedtwodegree-of-freedom(d.o.f)revolute-jointed,planarandpassivemanipulatorarm.Thecompositewheeledvehicle,formedbyplacingapayloadattheend-effectorsoftwo(ormore)suchmobilemanipulators,hasthecapabilitytoaccommodate,detectandcorrectbothinstantaneousandfiniterelativeconfigurationerrors.
Thekinematically-compatiblemotion-planning/controlframeworkdevelopedhereisintendedtofacilitatemaintenanceofallkinematic(holonomicandnonholonomic)constraintswithinsuchsystems.Givenanarbitraryend-effectortrajectory,eachindividualmobile-manipulator'sbi-levelhierarchicalcontrollerfirstgeneratesakinematically-feasibledesiredtrajectoryfortheWMRbase,whichisthentrackedbyasuitablelower-levelposturestabilizingcontroller.Twovariantsofsystem-levelcooperativecontrolschemes—leader-followeranddecentralizedcontrol—arethencreatedbasedontheindividualmobile-manipulatorcontrolscheme.Bothmethodsareevaluatedwithinanimplementationframeworkthatemphasizesbothvirtualprototyping(VP)andhardware-in-the-loop(HIL)experimentation.Simulationandexperimentalresultsofanexampleofatwo-modulesystemareusedtohighlightthecapabilitiesofareal-timelocalsensor-basedcontrollerforaccommodation,detectionandcorectionofrelativeformationerrors.
Keywords Compositesystem-Hardware-in-the-loop-Mobilemanipulator-Physicalcooperation-Redundancyresolution-Virtualprototyping
Kinematiccollaborationoftwomobilemanipulators
Wenowexaminetwovariantsofsystem-levelcooperativecontrolschemes—leader-followeranddecentralizedcontrol—thatcanbecreatedbasedontheindividualmobile-manipulatorcontrolscheme.
Leader-followerapproach
Thefirstmethodofmodelingsuchasystemconsidersthemidpointofthemobilebase(MPB)ofthemobile-manipulatorBtoberigidlyattachedtotheend-effectorofmobilemanipulatorA,asdepictedinFig.4.Figure4(b)depictshowtheend-effectorframe{E}ofMPAisrigidlyattachedtotheframeatMPB(separatedbyaconstantrotationangleβ).
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Fig.4 Schematicdiagramsoftheleader-followerscheme:
(a)the3-linkmobilemanipulatorunderanalysis,and(b)thetwo-modulecompositesystem
MPBnowtakesontheroleoftheleaderandcanbecontrolledtofollowanytrajectorythatisfeasibleforaWMR.Hence,givenatrajectoryoftheleaderMPB,andthepreferredmanipulatorconfigurationof,Eq.(5)canberewrittenas:
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andcorrespondinglyEqs.(6)–(8)as:
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Thus,thetrajectoryofthevirtual(reference)robotforthefollowerMPA,andthederivedvelocitiescannowbedetermined.Thisformstheleader-followerschemeusedforthecontrolofthecollaborativesystemcarryingacommonpayload.
Decentralizedapproach
Thesecondapproachconsiderstheframeattachedtoapointofinterestonthecommonpayloadastheend-effectorframeofboththeflankingmobilemanipulatorsystems,asdepictedinFig.5.Thus,adesiredtrajectoryspecifiedforthispayloadframecanthenprovidethedesiredreferencetrajectoriesforthetwomobileplatformsusingthesimilarframeworkdevelopedintheprevioussectionbytakingand,where.ThispermitsEq.(5)toberewrittenas:
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Fig.5 Decentralizedcontrolschemeimplementationpermitsthe(a)compositesystem;tobetreatedas(b)twoindependent2-linkmobilemanipulators
andcorrespondinglyEq.(6)–(8)as:
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Eachtwo-linkmobilemanipulatornowcontrolsitsconfigurationwithreferencetothiscommonend-effectorframemountedonthepayload.However,thelocationsoftheattachmentsofthephysicalm