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首页> 外文学位 >Pseudo robot based methods to analyze kinematics and dynamics of robotic systems from a design perspective.
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Pseudo robot based methods to analyze kinematics and dynamics of robotic systems from a design perspective.

机译：基于伪机器人的方法，从设计角度分析机器人系统的运动学和动力学。

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摘要

Multi-body interactions and environmental contacts in robotic systems make the analysis of such systems challenging. We present an approach for kinematics and dynamics analysis of robotic systems that exposes the critical design issues. We demonstrate that the approach is generic, and amenable for control synthesis.; We start out with the development of a team of mobile robots in which the robots physically cooperative to improve mobility for search and rescue missions. Understanding the specific needs of such missions we introduce the idea of using robot wheel torques to achieve cooperation thus avoiding the need for additional actuation. To this end we propose a novel connecting link mechanism and we demonstrate cooperative maneuvers involving two robots with a prototype hardware system. Using the hardware and the analytical models we expose critical design issues related to the cooperation. Specifically, we prove that in order to achieve cooperative behaviors high friction is necessary at the points of contact of robots with the environment; and that robot system dynamics can be exploited to relax the stringent friction requirements.; To systematically analyze and design cooperative behaviors, and to be able to generalize the ideas of cooperative mobility, we developed a method called P-Robot, Method. By treating the linked bodies of mobile robots as a multiple degree-of-freedom object comprising an articulated open kinematic chain, and by introducing the concept of pseudo robots at the ground interaction points, the P-robot Method allows for a decoupled approach to analyzing a team of mobile robots. Using the P-robot Method, we have carried out statics as well as dynamics analysis for the 2-robot and 3-robot cooperation cases.; Applicability of the P-robot Method is extendible to general robotic systems. We demonstrate this by employing the method to analyze four examples of mechanical systems that are representative of many classes of robotic systems. The analysis of each example requires some modification of the method, and leads to interesting insights into the respective system, and the method itself. We propose and demonstrate with two examples that controllers can be designed for robotic systems based on kinematics and dynamics analysis using the P-robot Method.
机译：机器人系统中的多体交互作用和环境接触使得对此类系统的分析具有挑战性。我们提出了一种用于机器人系统运动学和动力学分析的方法，该方法揭示了关键的设计问题。我们证明了这种方法是通用的，并且适合于控制综合。我们从移动机器人团队的发展开始，在该团队中，这些机器人进行了物理协作以提高搜索和救援任务的机动性。了解此类任务的特定需求后，我们介绍了使用机器人车轮扭矩来实现协作的想法，从而避免了额外的致动。为此，我们提出了一种新颖的连接链接机制，并演示了涉及具有原型硬件系统的两个机器人的协作策略。使用硬件和分析模型，我们揭示了与合作有关的关键设计问题。具体来说，我们证明了，为了实现协作行为，在机器人与环境的接触点处需要高摩擦力；并且可以利用机器人系统动力学来放松严格的摩擦要求。为了系统地分析和设计协作行为，并能够概括协作移动的思想，我们开发了一种称为P-Robot的方法。通过将移动机器人的链接体视为包含关节运动学运动链的多自由度对象，并通过在地面交互点引入伪机器人的概念，P机器人方法允许采用解耦方法进行分析一队移动机器人。使用P机器人方法，我们对2机器人和3机器人合作案例进行了静态和动力学分析。 P机器人方法的适用性可扩展到一般机器人系统。我们通过使用该方法来分析代表许多类机器人系统的机械系统的四个示例来证明这一点。对每个示例的分析都需要对方法进行一些修改，并导致对各个系统以及方法本身的有趣见解。我们通过两个示例提出并演示，可以使用P机器人方法基于运动学和动力学分析为机器人系统设计控制器。

著录项

  • 作者

    Deshpande, Ashish D.;

  • 作者单位

    University of Michigan.;

  • 授予单位 University of Michigan.;
  • 学科 Engineering Mechanical.
  • 学位 Ph.D.
  • 年度 2007
  • 页码 176 p.
  • 总页数 176
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 机械、仪表工业;
  • 关键词

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