轮式移动舞台机器人双模模型预测控制北大核心CSCD

针对轮式移动舞台机器人的快速镇定和移动区域约束控制问题,提出一种快速双模模型预测控制(MPC)算法.考虑轮式移动舞台机器人的位姿约束和速度约束,采用控制Lyapunov函数概念和极坐标系模型设计模型预测控制算法.利用移动舞台机器人与目标的距离、瞄准角和方位角构造一个控制Lyapunov函数,建立移动舞台机器人的一个解析双模结构MPC控制器,再引入自由变量,参数化预测控制变量,降低双模MPC在线优化计算量.在约束条件下,建立了轮式移动舞台机器人闭环系统稳定性和MPC递推可行性理论结果.最后,通过与常规MPC比较,仿真验证所提算法的有效性和优越性.     

轮式移动舞台机器人双模模型预测控制

针对轮式移动舞台机器人的快速镇定和移动区域约束控制问题,提出一种快速双模模型预测控制(MPC)算法.考虑轮式移动舞台机器人的位姿约束和速度约束,采用控制Lyapunov函数概念和极坐标系模型设计模型预测控制算法.利用移动舞台机器人与目标的距离、瞄准角和方位角构造一个控制Lyapunov函数,建立移动舞台机器人的一个解析双模结构MPC控制器,再引入自由变量,参数化预测控制变量,降低双模MPC在线优化计算量.在约束条件下,建立了轮式移动舞台机器人闭环系统稳定性和MPC递推可行性理论结果.最后,通过与常规MPC比较,仿真验证所提算法的有效性和优越性.     

基于Udwadia-Kalaba方法的并联机器人鲁棒伺服约束控制

针对2自由度冗余驱动并联机器人轨迹跟踪控制问题,提出了一种基于Udwadia-Kalaba方程的鲁棒伺服控制方法.在负载、外部干扰以及制造误差的影响下,无法得到机器人精确、完整的运动模型,导致机器人控制性能变差.为解决这类不确定性带来的影响,提出了一种鲁棒控制方法.该方法通过保证系统的一致有界性和一致最终有界性,使系统...     

具有控制输入约束的轮式移动机器人轨迹跟踪最优保性能控制

针对考虑模型不确定性因素影响及控制输入约束的轮式移动机器人的轨迹跟踪问题,文章提出了一种具有控制输入约束的轨迹跟踪最优保性能控制器.依据实际机器人与虚拟机器人的相对位姿关系建立轨迹跟踪误差动态模型.采用平衡点线性化方法将非线性形式的轨迹跟踪误差动态模型转换为线性形式的轨迹跟踪误差动态模型.通过线性矩阵不等式处理方法,给出了具有鲁棒性能上界的最优保性能控制器的存在条件及设计方法.仿真及实验结果表明,文章所提控制器能较好抑制模型不确定性的影响,提高移动机器人的轨迹跟踪性能和鲁棒性.     

基于遗传算法的机器人任务优化调度研究

工业机器人应该在尽可能短的周期内完成复杂的任务,以获得高生产率.确定机械手末端执行器访问多个任务点的最佳路径的问题与著名的旅行商问题(TSP)相似,但并不完全相同.为了使TSP适应机器人技术,需要优化的度量是时间而不是距离.另外,任意两点之间的行程时间受机械手构型的选择影响较大.因此,需要考虑运动学逆问题的多重解.逆运动学问题的求解是机器人控制的基础.许多传统的逆运动学问题的解决方法,如几何、迭代和代数方法,对冗余机器人来说是不够的.以此为出发点,基于遗传算法提出了一种新的编码方法来考虑逆运动学问题的多重解,方法适用于任何非冗余度的机械手.仿真实验结果显示,提出的方法能在一定的时间内快速找到最优解或近似最优解.且任何非冗余度机械手的多重配置很容易体现在遗传算法的编码中.     

工业机器人的标准工时测定方法研究

随着生产智能化的发展,生产一线的劳动者逐渐变为工业机器人.针对工业机器人工作特点,提出单个工业机器人完成一道工序的标准工时构成要素;基于可靠性理论,分别推导出单个工业机器人在单故障和多故障下平均故障维修时间(MTTR)和平均保障延误时间(MLDT)的数学模型.通过案例分析显示该方法具有可行性,能够为企业正确核算生产能力、提高生产效率提供理论基础.     

两比例失效率元件组成串联系统元件冗余与系统冗余的随机比较

针对两个比例失效率元件组成的串联系统,在热冗余的情形下,讨论了串联系统的元件冗余与系统冗余两种方案,并基于随机序的方法,对普通随机序、失效率序、反失效率序建立了元件冗余优于系统冗余的随机比较理论.     

求解集束型装备调度问题的改进遗传算法

针对半导体制造中的有滞留时间约束集束型装备调度问题,以最小化生产周期为目标,建立问题的数学模型,提出基于机械手搬运作业顺序编码的改进遗传算法.设计基于禁止区间法的启发式构造算法以生成初始种群,避免了不可行染色体的产生;通过互换染色体中处于机械手全等待的基因位置,以及基于图论的不可行解修复技术改进局部搜索效率,避免冗余迭代和陷入局部最优等现象.与遗传算法、混合量子进化算法的仿真实验比较,验证了提出算法的有效性和鲁棒性.     

定期检修可修系统更换模型研究

针对定期检修退化可修系统提出了一种维修更换模型,且假定系统在每个周期中检修时间逐渐递增、检修"修复如旧"和故障维修为"修复非新"时,选择系统的故障次数N为更换策略,利用更新过程和单调的几何过程理论建立数学模型,求出了系统经长期运行单位时间内的期望效益的表达式.最后还对结果进行了讨论,并给出了数值例子验证该方法的有效性.     

基于单目视觉的SLAM算法研究

利用一种新型的人工路标系统-MR二维码,提出了基于单目视觉和里程计的SLAM方法.首先介绍了MR二维码系统,然后在对机器人运动模型和视觉传感器观测模型进行分析和验证的基础上,给出了一种实用的里程计位置估计误差模型.机器人移动过程中,利用扩展卡尔曼滤波器对视觉信息与里程计信息进行融合.在室内环境下进行了实际实验,实验结果表明该算法可提高机器人定位和构建地图的精度,验证了算法的有效性.     

移动机器人履行系统配置优化研究——基于闭排队网络理论

本文对移动机器人履行系统中货架调度任务的履行过程进行分析,根据机器人在货架装载、搬运、拣选、卸载四个过程的作业特点建立闭排队网络模型。采用近似平均值分析算法求解,实现系统绩效的迅速评估。通过与仿真计算实验的对比证明,模型对系统绩效的评估误差不超过5%。利用闭排队网络模型评估拣选台、机器人利用率和调度任务履行能力,实现对系统设施配置的讨论和优化。研究表明,拣选台均匀分布于仓库较长的两侧能提高系统履行绩效;系统存在最优机器人投放数量使系统整体利用率较高。     

“货到人”拣选系统机器人任务分配的鲁棒双层规划模型

在电商“货到人”拣选系统中,如何调度系统中的机器人并对任务进行合理地分配决定着整个系统的运行效率与成本。分析“货到人”拣选系统作业流程,建立机器人数量配置、机器人调度与机器人任务分配的双层规划模型。上层模型以批量订单完成总成本最小为目标函数,以机器人调度为决策变量,构建整数规划模型;下层模型以机器人完成所有任务的平均空闲率最小为目标函数,以任务分配为决策变量,考虑机器人在完成任务过程中由于调度、避障、路径规划等导致的行走距离不确定因素,构建鲁棒优化模型。上层的调度结果制约了下层的最小平均空闲率,下层的任务分配结果影响上层的最小成本,上下层结果共同决定机器人配置决策。利用遗传算法求解模型,通过实例仿真验证了模型的有效性。     

A prototype cost model of functional check decisions in reliability-centred maintenance

In this paper, the functional check task specified in reliability-centred maintenance (RCM) is discussed and a general cost model under the assumption of a non-decreasing degradation process is established to jointly optimise the threshold of potential failure and inspection intervals to minimise the expected operating cost per unit time. A gamma process is used to describe a random wear degradation process and illustrate the model.     

Dynamic Modeling and Force Control of a Redundant Robot for Polishing Applications

For many robotic applications with tasks such as cutting, assembly or polishing, it is necessary to get in contact with the surrounding. In this paper a redundant robot with seven degrees of freedom in a metal polishing task is considered. For simulation as well as for the controller design a dynamic model of the robot and a contact model are required. The equations of motion of the robot are calculated with the Projection Equation in subsystem representation and the contact model contains linear tool elasticities and work piece elasticities. In the case of a polishing task, a constant contact force during the process is required even if the robot moves along a trajectory. Thus some degrees of freedom of the robot tool center point have to be position controlled while the other ones have to be force controlled. The redundant robot offers the possibility to avoid singular positions or to maximize the available end-effector forces within the inverse kinematics and is therefore best suited for polishing large objects. The actual process forces are measured with a six axis force-torque-sensor mounted at the tool center point. These forces are used in a parallel force/position control law to achieve the desired behavior. Results from measurements of a test arrangement are presented. (© 2014 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

基于峰谷分时电价机制的节能发电调度优化模型

为减少能源消耗,电力工业在发电侧推行节能发电调度,而在用电侧则施行需求侧管理。事实上,发电侧与用电侧可以通过联合优化实现更好的节能效果。峰谷分时电价将改变原有系统负荷的分布,发电侧机组发电调度的安排将随之改变,发电煤耗水平也将相应地变动。有鉴于此,首先分别构建了需求侧峰谷分时电价响应分析模型以及发电侧节能发电调度的机组组合模型;其次,为了实现分时电价响应向机组煤耗效益的传递,以机组发电煤耗与启停煤耗最少为目标构建了需求侧与发电侧的联合优化模型;最后,通过算例分析发掘模型的节能效益,借助GAMS求解上述模型,优化结果表明分时电价的优化将有助于改进发电侧的节能调度效果,同时将实现一定的环境效益。     

考虑非结构性的多级生产流程调度方法

针对智能化柔性制造过程存在的再制造过程,对中小型设备生产车间及其仓储转运的模型构建、分析方法、以及参量相关性提出了新的解决思路.为了最大限度的减少建设周期、合理化投资成本、以及优化生产流程,建立了考虑非结构性的多级生产流程的数学模型,以完成度、完工时间和调度频次为目标函数分析生产要素间的相关性.实验结果表明,融合再加工过程的智能化柔性制造单元中,生产要素为非线性相关,个别要素具备对称性,为实际工况中的生产改进及优化提供了一定理论基础.     

Dynamics and stability of a hybrid serial-parallel mobile robot

Kinematics, dynamics, and stability analysis of a hybrid serial-parallel wheeled mobile robot is detailed in this paper. Privileging the advantages of both serial and parallel robots, the suggested structure will provide higher stability for heavy object manipulation by a mobile robotic system. The proposed system is made of a differentially-driven wheeled platform, a planar parallel manipulator, which is called here as star-triangle (ST) mechanism, and a serial Puma-type manipulator arm. In order to develop a comprehensive kinematics model of the robot; first it is divided into three modules, i.e. a mobile platform, a parallel ST mechanism, and a serial robot. Next, a closed-form dynamics model is derived for the whole hybrid system based on a combined Newton–Euler and Lagrange formulation. Then, a careful validation procedure is presented to verify the obtained dynamics model. Finally, using the new postural stability metric named as moment-height stability (MHS), the important role of the parallel ST mechanism for stabilizing the mobile robotic system is demonstrated. The obtained results show that the proposed hybrid serial–parallel arrangement effectively enhances the tip-over stability of the overall mobile robotic system. Hence, it can be successfully exploited to prevent tip-over instability particularly during heavy object manipulation tasks.     

A weighted causal theory for acquiring and utilizing open knowledge

Motivated by enabling intelligent robots/agents to take advantage of open-source knowledge resources to solve open-ended tasks, a weighted causal theory is introduced as the formal basis for the development of these robots/agents. The action model of a robot/agent is specified as a causal theory following McCain and Turner's nonmonotonic causal theories. New knowledge is needed when the robot/agent is given a user task that cannot be accomplished only with the action model. This problem is cast as a variant of abduction, that is, to find the most suitable set of causal rules from open-source knowledge resources, so that a plan for accomplishing the task can be computed using the action model together with the acquired knowledge. The core part of our theory is constructed based on credulous reasoning and the complexity of corresponding abductive reasoning is analyzed. The entire theory is established by adding weights to hypothetical causal rules and using them to compare competing explanations which induce causal models satisfying the task. Moreover, we sketch a model theoretic semantics for the weighted causal theory and present an algorithm for computing a weighted-abductive explanation. An application of the techniques proposed in this paper is illustrated in an example on our service robot, KeJia, in which the robot tries to acquire proper knowledge from OMICS, a large-scale open-source knowledge resource, and solve new tasks with the knowledge.     

Stabilization of the motion of a spherical robot using feedbacks

The paper is concerned with the problem of stabilizing a spherical robot of combined type during its motion. The focus is on the application of feedback for stabilization of the robot which is an example of an underactuated system. The robot is set in motion by an internal wheeled platform with a rotor placed inside the sphere. The results of experimental investigations for a prototype of the spherical robot are presented.     

具有内部构造安全保障体系的冗余机器系统的解的半离散化分析

对具有内部构造安全保障体系的冗余机器系统中的修复率μ(x)用初等阶梯函数方法进行逼近,并给出了系统的半离散化模型,为进一步数值计算打下基础.