毕业设计机械手外文翻译.docx

外文翻译译文题目一种与移动机械臂的局部零件所受载荷相协调的运动结构(2)原稿题目AkinematicallyCOmPatibleframeworkforCOoPeratiVePaylOadtransportbySonholonomicmobilemanipulators(2)原稿出处AUtOnRobot(2006)21:227-242Akinematicallycompatibleframeworkforcooperativepayloadtransportbynonholonomicmobilemanipulators(2)M.Abou-Samah1,C.P.Tang2,R.M.Bhatt2andV.Krovi2(1) MSCSoftwareCorporation,AnnArbor,Ml48105,USA(2) MechanicalandAerospaceEngineering,StateUniversityofNewYorkatBuffalo,Buffalo,NY14260,USAReceived:5August2005Revised:25May2006Accepted:30May2006Publishedonline:5September2006AbstractInthispaper,weexaminethedevelopmentofakinematicallycompatiblecontrolframeworkforamodularsystemofwheeledmobilemanipulatorsthatcanteamuptocooperativelytransportacommonpayload.Eachindividuallyautonomousmobilemanipulatorconsistsofadifferentially-drivenWheeledMobileRobot(WMR)withamountedtwodegree-of-freedom(d.o.f)revolute-jointed,planarandpassivemanipulatorarm.Thecompositewheeledvehicle,formedbyplacingapayloadattheend-effectorsoftwo(ormore)suchmobilemanipulators,hasthecapabilitytoaccommodate,detectandcorrectbothinstantaneousandfiniterelativeconfigurationerrors.Thekinematica11y-compatib1emotion-planning/controlframeworkdevelopedhereisintendedtofacilitatemaintenanceofallkinematic(holonomicandnonholonomic)constraintswithinsuchsystems.Givenanarbitraryend-effectortrajectory,eachindividualmobi1e-manipu1ator,sbi-levelhierarchicalcontrollerfirstgeneratesakinematically-feasibledesiredtrajectoryfortheWMRbase,whichisthentrackedbyasuitablelower-levelposturestabilizingcontroller.Twovariantsofsystem-levelcooperativecontrolschemesleader-followeranddecentralizedcontrolarethencreatedbasedontheindividualmobi1e-manipuIatorcontrolscheme.Bothmethodsareevaluatedwithinanimplementationframeworkthatemphasizesbothvirtualprototyping(VP)andhardware-in-the-loop(HIL)experimentation.Simulationandexperimentalresultsofanexampleofatwo-modulesystemareusedtohighlightthecapabilitiesofareal-timelocalsensor-basedcontrollerforaccommodation,detectionandcorectionofrelativeformationerrors.KeywordsCompositesystem-Hardware-in-the-loop-MobilemanipuIator-Physicalcooperation-Redundancyresolution-VirtualprototypingKinematiccollaborationoftwomobilemanipulatorsWenowexaminetwovariantsofsystem-levelcooperativecontrolschemes-leader-followeranddecentralizedcontrol-thatcanbecreatedbasedontheindividualmobi1e-manipu1atorcontrolscheme.1.eader-followerapproachThefirstmethodofmodelingsuchasystemconsidersthemidpointofthemobilebase(MPB)ofthemobi1e-manipuIatorBtoberigidlyattachedtotheend-effectorofmobilemanipulatorA,asdepictedinFig.4.Figure4(b)depictshowtheend-effectorframe用ofMPAisrigidlyattachedtotheframeatMPB(separatedbyaconstantrotationangle).co0anj3Xg0Yt(15)Fig.4Schematicdiagramsoftheleader-followerscheme:(a)the3-linkmobilemanipulatorunderanalysis,and(b)thetwo-modulecompositesystem(*),玦),g(2),MPBnowtakesontheroleoftheleaderandcanbecontrolledtofollowanytrajectorythatisfeasibleforaWMR.Hence,givenatrajectoryoftheleaderMPBand the preferred manipulator configuration of(" M(e)(5) can be rewritten as:X，_co8XYi=sin/5cob0Y；三inco-rfcc4-in,rfLj+Lcos÷Ljco空1.ISm%+"三nC0Sinyc07-smqi323-Lsin11.11三)÷Ljc03Ljcott0|彳(16)andcorrespondinglyEqs.(6)-(8)as:(17)(部三(2)'+M)'xi-jx(%7rco也Thus,thetrajectoryofthevirtual(reference)robotforthefollowerMPA(Xf,'F",C"Iv<f).u4C),andthederivedvelocitiescannowbedetermined.Thisformstheleader-followerschemeusedforthecontrolofthecollaborativesystemcarryingacommonpayload.DecentralizedapproachThesecondapproachconsiderstheframeattachedtoapointofinterestonthecommonpayloadastheend-effectorframeofboththeflankingmobilemanipulatorsystems,asdepictedinFig.5.Thus,adesiredtrajectoryspecifiedforthispayloadframecanthenprovidethedesiredreferencetrajectoriesforthetwomobileplatformsusingthesimilarframeworkdevelopedintheprevioussectionbytaking人工3=°and0*')°,wherek=A,B.ThispermitsEq.(5)toberewrittenas:气4AilkYieo4-4coV一mVsin/cosFig. 5 Decentralizedcontrolschemeimplementationpermitsthe(a)compositesystem;tobetreatedas(b)twoindependent2-linkmobilemanipulatorsS=慧)，½=(¾),÷ (tvi),kd v 上 W * Yd(k×iVandcorrespondinglyEq.(6)-(8)as:(19)Eachtwo-linkmobilemanipulatornowcontrolsitsconfigurationwithreferencetothiscommonend-effectorframemountedonthepayload.However,thelocationsoftheattachmentsofthephysicalmanipulatorswithrespecttothepayloadreferenceframemustbeknownapriori.ImplementationframeworkWeexaminethedesignanddevelopmentofatwo-stageimplementationframework,showninFig.6,thatemphasizesbothvirtualprototyping(VP)basedrefinementandhardware-in-1he-1oop(HIL)experimentation.Fig. 6 ParadigmforrapiddevelopmentandtestingofthecontrolschemeonvirtualandphysicalprototypesVirtualprototypingbasedrefinementInthefirststage,weemployvirtualprototyping(VP)toolstorapidlycreate,evaluateandrefineparametricmodelsoftheoverallsystemandtestvariousalgorithmsinsimulationwithinavirtualenviron