Generating a reference trajectory with defined kinematics for the IRb-6 manipulator

The fundamental problem in industrial robots control concerns algorithms generating reference trajectories.References [1–4] suggest generating algorithms of a reference trajectory, which are based on an arbitrary discretization of the manipulator's internal coordinates. Each point of discretization in the external space approximating a reference trajectory corresponds to known discretized internal coordinates of the manipulator.In [5–7], iteration methods of determining the internal coordinates corresponding to external coordinates of the reference trajectory point have been suggested. In this method of internal coordinates, determining the point of the reference trajectory is being approached in successive steps of an iterative computation. In [5], a modified iterative method of generation of a straight segment reference trajectory has been presented.Analytic formulae, which are the solution of an inverse problem of manipulator kinematics, enable design of trajectory generating algorithms which compute, in one step only, the internal coordinates of points lying exactly on the reference trajectory, with the accuracy resulting from the computer register length.In this paper, the author has presented an original PLAN2 computer algorithm generating reference trajectories of motion for a task. The kinematics of those trajectories is defined at selected points through which a task is to be passed, the distances between them being optional. The algorithm is based on formulae which are analytic solutions to an inverse problem for an IRb-6 manipulator kinematics.     

Homotopy method for generalized eigenvalue problems Ax= ΛBx

Generalized eigenvalue problems can be considered as a system of polynomials. The homotopy continuation method is used to find all the isolated zeros of the polynomial system which corresponds to the eigenpairs of the generalized eigenvalue problem. A special homotopy is constructed in such a way that there are exactly n distinct smooth curves connecting trivial solutions to desired eigenpairs. Since the curves followed by general homotopy curve following scheme are computed independently of one another, the algorithm is a likely candidate for exploiting the advantages of parallel processing to the generalized eigenvalue problems.     

Kinematic and dynamic analysis of the Gantry-Tau,a 3-DoF translational parallel manipulator

This paper deals with the mathematical modeling of kinematics and dynamics of the 3-degrees-of-freedom Gantry-Tau manipulator. Compared to many other parallel robots, Gantry-Tau offers a large accessible workspace and high stiffness. The kinematics of Gantry-Tau is presented which includes inverse kinematics formulation for the position, velocity and acceleration of the mechanism. Also, based on the obtained Jacobin matrices, singular configurations of the robot are studied. Afterwards, the equations of the inverse dynamic model of the Gantry-Tau are obtained through two different methods, i.e., virtual work and Newton–Euler. Finally, a case study is performed to verify the correctness of the derived models and investigate their computational efficiency.     

同伦算法在并联机器人运动学中的应用

讨论同伦算法求解并联机器人运动学正问题.通过参系数同伦法大大减少了跟踪路径的数目,从而提高了同伦算法的效率使之对求解一般非线性代数方程组更为可行.采用这一算法,求出了中科院沈阳自动化研究所机器人开放研究实验室的新型并联机器人模型的全部正解.为新模型的机构分析和实时控制提供了理论依据.     

多目标规划的光滑同伦方法

本文给出了求解多目标规划的一种连续同伦方法 .首先 ,运用光滑熵函数将多目标多约束的问题化为单目标单约束的问题 ,然后构造了求解单目标问题的同伦方法 ,并证明了其大范围收敛性 .     

多机器人协调吊运系统逆运动学分析及优化

针对紧耦合多机器人协调吊运系统的逆运动学问题进行了分析,首先利用几何关系和力旋量平衡方程建立了系统的运动学模型和动力学模型;然后对系统的逆运动学进行分析,将其分为变柔索长度和固定柔索长度两种情况分别进行分析;随后对运动学逆解在某一时刻存在无穷多解、多组解和无解的情况分别给出了解决方法,对存在多组解的情况,提出一优化目标求解最优解;最后结合软件UG/ADAMS/MATLAB建立了系统的实验平台,通过实例仿真计算验证了方法的有效性,为后续进一步研究系统运动稳定性、优化拉力分布和控制算法奠定了基础.     

一种新的求非线性方程组的数值延拓法

针对迭代过程中的Jacobi奇异问题,本文提出了一种新的数值延拓法.通过构造双参数同伦算子,采用可控条件和适当选取参数的方式克服Jacobi奇异性,并分析了方法的收敛性.最后,通过数值实验对比,验证了方法的可行性和优越性.特别是具有可调控越过Jacobi奇异(点、线、面)的优势,从而也在某种程度上解决了数值延拓法严重依赖于初值的问题.     

A CONTINUATION HOMOTOPY METHOD FOR THE INVERSE PROBLEM OF OPERATOR IDENTIFICATION AND ITS APPLICATION

A new widly convergent method for solving the problem of operator kientification is illustrated.Numerical simulations are carried out to test the feasibllity and to study the general characteristics of the technique without the real measurement data.This technique is a direct application of the continuation homotopy method for solving nonlinear systems of equations.It is found that this method does give excellent results in solving the inverse problem of the elliptic differential equations.     

Comparative study of cable parallel manipulators with and without hybrid-driven planar five-bar mechanism

Cable parallel manipulators (CPMs) relay on cables instead of rigid links to support and manipulate the end-effector. The CPMs are required not only for operations with lower inertia and high payload, but also for output with greater flexibility. The paper is devoted to present and analyze a cable parallel manipulator with and without hybrid-driven planar five-bar mechanism (HDPM). The cable parallel manipulator with the HDPM combines positive features of both the cable parallel manipulator and the HDPM. Comparative study of kinematics and dynamics of the CPMs with and without HDPM are studied. Drive torques and drive powers are given to compare the load carrying capacity of the two manipulators, and workspace, stiffness performance, singularity analysis are also carried out. Simulation examples are presented to demonstrate the CPMs with and without HDPM and their mechanics performance.     

Computer-assisted generation of robot dynamic models in an analytical form

An algorithm for constructing dynamic models of single-arm robots is presented in this paper. Motion equations of robots in analytical form are derived applying a fully automated procedure. It is shown that the solution of a direct and/or inverse problem based on the analytical model requires considerably fewer floating-point multiplications/additions than is the case with previously-developed numerical methods. The developed method is therefore very suitable for real-time application of robot dynamic models. The developed program package is illustrated using the example of Stanford manipulator.     

A PL homotopy continuation method with the use of an odd map for the artificial level

This note presents a new piecewise linear homotopy continuation method for solving a system of nonlinear equations. The important feature of the method is the use of an odd map for the artificial level of the homotopy. Some sufficient conditions for the global convergence of the method are given. They are different from the known conditions for the global convergence of the existing homotopy continuation methods. Specifically, they cover all the systems of nondegenerate linear equations. Partially supported by the Sakkokai Foundation and by the Grand-in-Aid for Scientific Research of the Ministry of Education and Culture No. 58750265. Partially supported by the Grant-in-Aid for Scientific Research of the Ministry of Education and Culture No. 56460103.     

融合神经网络与数值计算的人体逆向运动学求解

人体逆向运动学问题是人体运动合成、人体运动捕获和理解的基本问题.由于人体关节链式系统的复杂性,人体逆向运动学方程往往存在多解或无解的情形.传统的方法通常采用解析或数值迭代方法求解逆向运动学问题,在给定足够多约束的情形下能够得到比较好的解,但无法处理少量约束下生成自然的人体姿态问题.近年来,从大规模数据集中学习统计模型参数的思想被广泛运用,求解人体逆向运动学的机器学习方法中经典工作|混合Gauss逆向运动求解模型(Gaussian mixture model-inverse kinematics,GMM-IK)就提出利用混合Gauss模型建模人体姿态数据分布,并采用期望最大化方法求解参数.随着深度学习技术的发展,本文提出一种自编码神经网络与数值迭代融合的方法,在给定少量约束的情形下依然能够得到自然的人体姿态,相较于GMM-IK方法,本文所提出的方法通过神经网络自动学习姿态分布,省去了模型的假设和特征的设计,且量化实验显示本文方法的关节坐标和角度重建误差相较于GMM-IK模型平均减少了25%和39%.在应用方面,本文方法可处理光学运动捕获数据,也可用于图像视频的人体姿态估计等领域.     

结构动力学逆特征值问题的同伦解法

将结构动力学反问题视为拟乘法逆特征值问题,利用求解非线性方程组的同伦方法来解决结构动力学逆特征值问题,这种方法由于沿同伦路径求解,对初值的选取没有本质的要求,算例说明了这种方法是可行的．     

An inverse source problem with multiple frequency data

The Note is concerned with an inverse source problem for the Helmholtz equation, which determines the source from measurements of the radiated field away at multiple frequencies. Our main result is a novel stability estimate for the inverse source problem. Our result indicates that the ill-posedness of the inverse problem decreases as the frequency increases. Computationally, a continuation method is introduced to solve the inverse problem by capturing both the macro and the small scales of the source function. A numerical example is presented to demonstrate the efficiency of the method.     

A NUMERICAL EMBEDDING METHOD FOR SOLVING THE NONLINEAR COMPLEMENTARITY PROBLEM(I) ——THEORY

AbstractIn this paper, we extend the numerical embedding method for solving the smooth equations to the nonlinear complementarity problem. By using the nonsmooth theory, we prove the existence and the continuation of the following path for the corresponding homotopy equations. Therefore the basic theory of the numerical embedding method for solving the nonlinear complementarity problem is established. In part II of this paper, we will further study the implementation of the method and give some numerical exapmles.     

On comparison of series and numerical solutions for second Painlevé equation

This attempt presents the series solution of second Painlevé equation by homotopy analysis method (HAM). Comparison of HAM solution is provided with that of the Adomian decomposition method (ADM), homotopy perturbation method (HPM), analytic continuation method, and Legendre Tau method. It is revealed that there is very good agreement between the analytic continuation and HAM solutions when compared with ADM, HPM, and Legendre Tau solutions. © 2009 Wiley Periodicals, Inc. Numer Methods Partial Differential Eq 2010     

On solving the forward kinematics of 3RPR planar parallel manipulator using hybrid metaheuristics

Hybrid metaheuristics have been applied with success in solving many real-world problems. This work introduces hybrid metaheuristics to the field of kinematics problem, in particular, for solving the forward kinematics of the 3RPR parallel manipulator. It implements a combination of genetic algorithms and simulated annealing into two popular hybrid metaheuristic techniques. They are combined as teamwork and relay collaborative hybrid metaheuristics and compared to the performance of genetic algorithms and simulated annealing alone. The results show that the meta-heuristic approaches give robust and high quality solutions. Genetic algorithms and teamwork collaborative metaheuristics showed better performance than simulated annealing and relay collaborative metaheuristics. The given metaheuristic methods obtain all the unique solutions and comparisons with algebraic methods show promising results.     

空间-时间分数阶变系数对流扩散方程微分阶数的数值反演

考虑终值数据条件下一维空间-时间分数阶变系数对流扩散方程中同时确定空间微分阶数与时间微分阶数的反问题.基于对空间-时间分数阶导数的离散,给出求解正问题的一个隐式差分格式,通过对系数矩阵谱半径的估计,证明差分格式的无条件稳定性和收敛性.联合最佳摄动量算法和同伦方法引入同伦正则化算法,应用一种单调下降的Sigmoid型传输函数作为同伦参数,对所提微分阶数反问题进行精确数据与扰动数据情形下的数值反演.结果表明同伦正则化算法对于空间-时问分数阶反常扩散的参数反演问题是有效的.     

An Acceleration Method in the Homotopy Newton's Continuation for Nonlinear Singular Problems

The nonlinear singular problem $f(u)=0$ is considered. Here $f$ is a $C^3$ mapping from $E^n$ to $E^n$. The Jacobian matrix $f'(u)$ is singular at the solution $u^*$ of $f(u)=0$. A new acceleration method in the homotopy Newton's continuation is proposed. The quadratic convergence of the new algorithm is proved. A numerical example is given.     

Continuation of Hermitian Positive Definite Functions and Related Questions

We study the intimate relation of the continuation problem for hermitian positive definite functions with direct and inverse spectral problems for canonical systems and strings and with the extrapolation problem for second order stochastic processes.