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双语推荐：双臂空间机器人

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针对虚拟仿人机器人(VHR)处理工作空间多目标区域(WTAs)避碰操控问题,先基于齐次变换矩阵和链式相乘法则,建立了VHR双臂机理正向运动学模型,进而推导了两种求解VHR双臂逆运动学的公式(DLS-SVD法和基于链式解耦的解析法);其次,建立了WTAs的数学模型,并以WTAs位姿为操控目标,提出了融合正向和逆向运动学及其双向快速搜索随机树算法的VHR双臂避碰操控算法;最后,通过三维仿真建立VHR虚拟样机,验证了提出算法的正确性和有效性。
As for the collision-free operation and control problems as encountered by the Virtual Humanoid Robot(VHR) in WTAs, firstly, based on the homogeneous transformation matrix and chain rules via multiplication, a model regarding VHR dual-arm forward kinematics is established, then two formulas for solving VHR dual-arm reverse kinematics are deduced(DLS-SVD method and analytical method based on chain decoupling). Secondly, the mathematical model of WTAs is established, and an algorithm for VHR dual-arm collision-free operation and control that integrates forward and reverse kinematics as well as Bi-directional Rapidly-exploring Random Trees(BiRRTs)is raised by taking the WTAs pos-ture as the target of operation and control. At last, a virtual prototype of VHR is established through three-dimensional simulation, verifying the correctness and effectiveness of the algorithm mentioned.

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针对拟人臂机器人在家庭环境中的自主抓取任务,提出了一种强调运动姿态似人特性的拟人臂动作的规划方法.该方法分为两个部分,构型规划和运动规划,构型规划基于人体工程学中广泛使用的快速上肢评估准则评价机器人运动姿态的似人特性,并在此基础上以机器人末端传速速率最优为目标规划机器人运动过程中的关键构型.运动规划结合了Fitts定律和似人运动模型规划了机器人末端的空间轨迹.本文最后以Motoman SDA10D拟人双臂机器人和Mitsubishi PA10机器人为例,具体介绍了该方法的应用和规划的结果,规划结果证明了本方法的可行性和有效性.
A motion planning method for anthropomorphic robot arm which emphasizes the human likeness of robot movement is proposed in this paper to solve the autonomous grasp task of service robot in house environment. The method involves configuration planning and movement planning. The Rapid Upper Limb Assessment (RULA) criterion which is widely used in applied ergonomics is adopted in configuration planning to assess the human likeness of robot movement, then the key configuration of the robot movement is planned to generate the maximal velocity transmission ratio at its end-effector. The Fitts law and human-like movement model is used in movement planning to generate trajectory of the robot. Illustrative example of this method applied to a dual anthropomorphic arm robot Motoman SDA10D and Mitsubishi PA10 is presented in this paper, and reasonable planning results confirm the feasibility and effectiveness of the method.

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讨论基座姿态、位置均不控的自由漂浮双臂空间机器人在关节驱动力矩受限下其关节协调运动的控制问题.运用拉格朗日第二类方程并耦合动量守恒关系建立动力学方程.尔后,设计了基于饱和函数的控制方案,该方案引入具有饱和特性的双曲正切函数来控制关节力矩幅值.最后,根据奇异扰动系统稳定性理论将系统分为降阶系统和边界层系统,分别利用李雅普诺夫函数证明其在原点呈指数稳定.数值仿真进一步表明该方案的有效性和优越性.
This paper studies the control of a dual-arm space robot system with bounded input torques to track a desired trajectory in the joint space,when the location of the base and the attitude are uncontrolled.Based on the Second Lagrange approach and the momentum conservation,a dynamics model of the dual-arm space robot system is built.Then,the saturated hyperbolic tangent function is adopted to design a new kind of control algorithms to control the driving torques of joints.Finally,the closed-loop error system is decomposed into a reduced-order model and a boundary-layer model based on the singular perturbation theory.The exponential stability of the state origin is proved by using the Lyapunov function.The numerical simulation results show the effectiveness and the superiority of the control algorithm.

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