EAST 六自由度内窥机械臂的逆运动学算法研究

为了实现 EAST 装置真空室内的内窥多关节机械臂的实时高精度控制,提出了一种逆运动学算法,即建立机械臂多变量的方程组,转化成为矩阵的特征值问题求解。为了验证和满足实际控制的需要,还基于 VC++6.0 开发了 MFC 运动学算法程序。结果表明,该算法能在 ms 级别内得到机械臂的所有运动学逆解。     

基于BP神经网络的排爆机械臂逆运动学分析

机械臂逆运动学是已知末端执行器的位姿求解机械臂各关节变量,主要用于机械臂末端执行器的精确定位和轨迹规划,如何高效的求解机械臂运动学逆解是机械臂轨迹控制的难点。针对传统的机械臂逆运动学求解方法复杂且存在多解等问题,提出一种基于BP神经网络的机械臂逆运动学求解方法。以四自由度机械臂为研究对象,对其运动学原理进行分析,建立BP神经网络模型并对神经网络算法进行改进,最后使用MATLAB进行仿真验证。仿真结果表明：使用BP神经网络模型求解机械臂逆运动学问题设计过程简单,求解精度较高,一定程度上避免了传统方法的不足,是一种可行的机械臂逆运动学求解方法。     

排爆机械臂逆运动学的模拟退火神经网络算法

采用传统方法计算没有封闭解的机械臂的逆运动学运算量大、精度无法保证,对于复杂结构很难满足实时精确控制的要求。六个并行三层双隐层前馈神经网络被设计用来解决排爆机器臂的逆运动学问题,神经网络的应用受到输出误差的限制,需要减小网络输出误差。针对机械臂结构,以神经网络输出为初始值,对网络输出关节变量进行实值编码,采用分离位姿模拟退火算法对的机械臂末端位置、姿态分别进行优化。仿真结果显示,该方法有效的减小了网络输出误差,在运算结果精确性和运算速度方面满足排爆机械臂求逆运动学解的要求。     

自动化控制下机械手臂运动轨迹研究

对机械手臂运动轨迹进行优化控制,能改善机械手臂的自动控制性能。为了提高机械臂的控制稳健性,提出一种基于变结构模糊PID控制的机械手臂运动轨迹优化控制模型。首先采用末端效应逆运动学模型构建机械手臂的运动规划约束参量数学模型,采用七自由度运动空间重构方法建立机械手臂运动的动力学方程。然后通过纵向定常运动,分析建立机械手臂整定控制目标函数,求解机械臂在抓取作业过程中的最佳导引控制律,采用变结构模糊PID控制方法进行运动轨迹的误差修正,实现机械臂自动控制优化。最后通过仿真实验进行控制性能测试,结果表明,采用该方法进行机械手臂运动轨迹控制的精度较高,对机械臂位形变化轨迹的预测准确性较好。     

一种冗余机械臂的多运动障碍物避障算法

冗余机械臂的避障问题一直是工业机器人应用领域的研究热点之一;为了改进传统避障算法的不足,提出了一种多运动障碍物的避障算法;该算法利用各障碍物的运动状态得到与机械臂之间的最小预测距离,并将其利用雅可比转置矩阵转化为机械臂对应杆件上的躲避速度,再将躲避速度引入梯度投影法中求得机械臂的关节角速度,并通过积分得到避障运动中机械臂的关节角度值,在完成末端轨迹跟踪的同时实现冗余机械臂的实时避障;利用一款七自由度冗余机械臂对该算法进行了仿真验证,结果表明该算法能有效实现冗余机械臂对多运动障碍物的避障。     

基于梯度下降和二分法的移动机器人轨迹规划方法

轨迹规划是移动焊接机器人轨迹控制的基础,是该系统中重要的组成部分。为了提高多关节移动焊接机器人轨迹规划的效率和精确性,同时考虑到多关节焊接机器人的运动特性提出了一种梯度下降法和二分法结合的轨迹规划方法。移动焊接机器人由机械杆和机器人移动平台组成,由于移动平台提供移动性使得移动焊接机器人相对固定的机械臂有更大的工作空间。近年来,此类系统的研究已在经学术界和工业界迅猛发展。论文首先建立移动焊接机器人的运动学模型,并且阐述梯度下降法和二分法结合算法的设计步骤。然后,采用典型的正弦波形作为焊缝轨迹,通过仿真验证该方法的应用前景和可行性。     

基于单目视觉的机械臂目标定位系统设计

在筒子纱染色的工业生产中,获取机械臂及纱杆锁扣的相对位置实现机械臂的精确定位和抓取目标是染色过程的关键技术。设计了基于单目视觉的机械臂目标定位及光学测量系统,通过单目光学成像的方式实时获取锁扣目标的图像,结合图像分析算法解算出目标空间位置以及目标与机械臂的相对位置。利用OPC通讯技术,将目标的空间位置信息传输给机械臂控制模块并控制机械臂的运动实现目标的抓取。通过现场实验,机械臂定位系统的定位误差在2mm范围内。     

基于OSG的空间机械臂三维仿真平台的设计与实现

为了实现空间机械臂路径规划算法的可视化仿真,采用OSG(OpenSceneGraph)技术,开发了一个实用方便的空间机械臂三维仿真平台。该仿真平台在VS2005开发平台上,基于QT框架类和OSG的图形库进行开发,将仿真平台系统框架分为了OSG仿真界面,任务管理,数据管理和路径规划四个模块并设计了人机交互界面。最后,通过典型的仿真实验对仿真平台进行了测试,有效的验证了空间机械臂单臂路径规划算法和双臂协调路径规划算法的正确性以及空间机械臂三维仿真平台的可行性。     

基于CRIO的机械臂测控系统设计

为了快速验证机械臂控制系统的操控准确性与执行机构稳定性,研制了一套机械臂测控与状态监测系统。在介绍基于NI CompactRIO平台的Profibus、CANopen、485总线以及快速IO总线技术应用的基础上,阐述了基于LabVIEW FPGA技术的测试数据高速采集、分析与处理等软件模块的具体实现方法。为了验证测试与显控平台的性能,针对摇摆试验台上的机械臂进行了摇摆状态PID控制与姿态显示测试,结果表明,机械臂的稳定控制角度误差为±0.40,控制信号传输延迟为0.3ms,姿态反馈延迟时间为50ms,PC端显控画面刷新时间为0.04 s,系统可不间断持续运行,性能优越,满足机械臂状态监测与性能测试要求。     

EAST链式维护机械臂伺服控制系统设计

针对链式维护机械臂(EAMA)运行环境的特殊性,对其伺服控制系统进行设计和实现。在控制结构上,系统在基于分布式控制结构的基础上采用了一种新的伺服系统解决方案。在控制策略上选用了高性能PIC单片机进行了硬件电路的设计,并采用了位置、速度双闭环控制算法以实现对机械臂的每个关节的高精度位置伺服控制。通过实验验证了该系统能够满足机械臂的运行要求,且具有良好的动态性能和稳态性能。     

Trajectory Planning of Robot Manipulator Based on RBF Neural Network

Robot manipulator trajectory planning is one of the core robot technologies, and the design of controllers can improve the trajectory accuracy of manipulators. However, most of the controllers designed at this stage have not been able to effectively solve the nonlinearity and uncertainty problems of the high degree of freedom manipulators. In order to overcome these problems and improve the trajectory performance of the high degree of freedom manipulators, a manipulator trajectory planning method based on a radial basis function (RBF) neural network is proposed in this work. Firstly, a 6-DOF robot experimental platform was designed and built. Secondly, the overall manipulator trajectory planning framework was designed, which included manipulator kinematics and dynamics and a quintic polynomial interpolation algorithm. Then, an adaptive robust controller based on an RBF neural network was designed to deal with the nonlinearity and uncertainty problems, and Lyapunov theory was used to ensure the stability of the manipulator control system and the convergence of the tracking error. Finally, to test the method, a simulation and experiment were carried out. The simulation results showed that the proposed method improved the response and tracking performance to a certain extent, reduced the adjustment time and chattering, and ensured the smooth operation of the manipulator in the course of trajectory planning. The experimental results verified the effectiveness and feasibility of the method proposed in this paper.     

考虑柔性关节的机械臂自适应运动控制策略研究

具有柔性关节的轻型机械臂因其自重轻、响应迅速、操作灵活等优点,取得了广泛应用。针对具有柔性关节的机械臂系统的关节空间轨迹跟踪控制系统动力学参数不精确的问题,提出一种结合滑膜变结构设计的自适应控制器算法。通过自适应控制的思想对系统动力学参数进行在线辨识,并采用Lyapunov方法证明了闭环系统的稳定性。仿真结果表明,该控制策略保证了机械臂系统对期望轨迹的快速跟踪,具有良好的跟踪精度,系统具有稳定性。     

ICF诊断设备搭载平台结构设计与误差分析

设计了一个用于惯性约束核聚变诊断设备定位与对准的搭载平台。该平台采用三自由度混联机构,具有进行两转动一平动的姿态调节能力。给出了平台输出件末端位置的反解及正解的封闭解形式。在此基础上,利用矩阵法结合从运动学方程得到的结论,推导出驱动杆杆长误差、球铰虎克铰间隙误差和球销副间隙定位误差与搭载平台终端位姿误差的映射关系。利用蒙特卡罗方法模拟分析了各几何误差源对搭载平台终端定位能力的影响。球销副的绝对误差较大并处于动平台的支撑点,所以它对搭载平台终端定位精度的影响较大。在不同姿态角相同误差输入条件下,对搭载平台终端误差输出进行了仿真,结果表明:俯仰角变化对输出误差的影响比偏航角变化的影响要大1~2倍。     

Algorithm for solving the inverse vibronic problem on the basis of SVL fluorescence spectra

Computer methods whereby the inverse vibronic problem is solved on the basis of resonance fluorescence spectra with the use of modern quantum-mechanical methods for constructing structuraldynamic models of polyatomic molecules are discussed. An algorithm is proposed for solving the inverse vibronic problem according to resonance fluorescence spectra under laser excitation, and the corresponding calculation programs are constructed. The initial program data are acquired by means of an original software package which implements the scaling of quantum-mechanical force fields in two electronic states. The Duschinsky matrix and the initial matrix of shifts in normal coordinates caused by electron excitation are calculated in the Cartesian and natural vibrational coordinates. The program data are taken from quantum-molecular models based on calculations performed via ab initio modern quantum-mechanical methods and density functional theory. The algorithm is tested through the calculation of a model molecular system.     

Trajectory tracking control of parallel robots in the presence of joint drive flexibility

Trajectory tracking control of parallel manipulators is aimed in the presence of flexibility at the joint drives. Joint structural damping is also considered in the dynamic model. The system is first converted into an open-tree structure by disconnecting a sufficient number of unactuated joints. The closed loops are then expressed by constraint equations. It is shown that, in a parallel robot with flexible joint drives, the acceleration level inverse dynamics equations are singular because the control torques do not have an instantaneous effect on the end-effector accelerations due to the elastic media. Eliminating the Lagrange multipliers and the intermediate variables, a fourth-order input–output relation is obtained between the actuator torques and the end-effector position variables. The proposed control law decouples and linearizes the system and achieves asymptotic stability by feedback of positions and velocities of the actuated joints and rotors. As a case study, a three degree of freedom, two legged planar parallel manipulator is simulated to illustrate the performance of the method. The end-effector desired trajectory is chosen such that the kinematic and drive singular positions are avoided.     

L1 generalized inverse beam-forming algorithm resolving coherent/incoherent, distributed and multipole sources

To resolve coherent/incoherent, distributed/compact, and multipole aerodynamic-sound sources with phased-array pressure data, a new source-detection algorithm is developed based on L₁ generalized inverse techniques. To extract each coherent signal, a cross spectral matrix is decomposed into eigenmodes. Subsequently, the complex source-amplitude distribution that recovers each eigenmode is solved using generalized inverse techniques with reference solutions which include multipoles as well as a monopole. Namely, the source distribution consisting of pre-defined source types is solved as an L₁ norm problem using iteratively re-weighted least squares (IRLS). The capabilities of the proposed algorithm are demonstrated using various benchmark problems to compare the results with several existing beam-forming algorithms, and it is found that distributed sources as well as dipoles with arbitrary orientation can be identified regardless of coherency with another source. The resolution is comparable to existing deconvolution techniques, such as DAMAS or CLEAN, and the computational cost is only several times more than that of DAMAS2. The proposed algorithm is also examined using previous model-scale test data taken in an open-jet wind-tunnel for a study on jet-flap interaction, and some indication of dipole radiation is discerned near the flap edge.     

多通道窄带Fx-Newton时频算法及动力机械有源隔振实验

提出了一种多通道窄带Fx—Newton算法,用多个控制器并联控制各窄带带通滤波器提取的多根线谱。离线辨识次级通道频响矩阵并求逆后,只需L×L个(通道数为L)2阶滤波器即可实现次级通道逆模型滤波,从而使控制器系数向最优值迅速收敛。还提出了窄带滤波相位差的自适应补偿算法,可提高线谱频率波动时的控制鲁棒性。在200kw实船柴油发电机有源无源隔振装置上进行了实验,结果表明该算法可同时控制10~11根线谱,使每根线谱衰减10~35dB。该算法运算量小,在保证收敛稳定性的同时、收敛速度大于FxLMS算法(尤其在次级通道矩阵特征值分散度大的情况)。