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Using simulation for planning and design of robotic systems with intermittent contact.

机译：使用仿真对间歇接触的机器人系统进行规划和设计。

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摘要

For robotic systems to automatically plan and execute manipulation tasks involving intermittent contact, one must be able to accurately predict the motions of the manipulated objects. Not surprisingly, many of the important manipulation problems that could yield to closed-form analysis have been solved and studied thoroughly. Problems characterized by intermittent contact are one particularly important type of robotics problem for which research must rely on simulation techniques.;Due to the intermittency of contact and the presence of stick-slip frictional behavior, dynamic models of such multibody systems are inherently (mathematically) nonsmooth, and are thus difficult to integrate accurately or quickly. Commercially available software tools have a difficult time simulating systems with unilateral constraints, that is constraints where touching bodies are allowed to touch or separate, but not interpenetrate. Users expect to spend considerable effort in a trial-and-error search for good simulation parameters to obtain believable, not necessarily accurate, results. Even the seemingly simple problem of a sphere rolling on a horizontal plane under only the influence of gravity is challenging for commercial simulators. The correct handling of unilateral contact constraints is one of the most difficult challenges left for many commercial simulation software packages.;This thesis relates to the use of simulation for planning and design of robotics systems with intermittent contact. As previously noted, such systems arise in many applications, including automated manufacturing, health care, and personal robotics. The relationship between these seemingly unrelated application areas is forged by the desire of interactive robotic devices situated in an unstructured world. A better understanding of the dynamics, especially the contact dynamics, will allow us to improve the autonomy of these systems. In the first part of this work, we introduce four new time-stepping methods, which were constructed for a variety of reasons, including accuracy, performance, and design. Next, we developed a simulation software package (dubbed daVinci Code) that implements these new methods. This software tool facilitates the simulation, analysis, and virtual design of multibody systems with intermittent frictional unilateral contact. Next, a study on the applicability of our time-stepping method is presented. We performed a numerical study on the accuracy of our methods, and experimentally validated our time-stepper on a system composed of a vibrating rigid plate and interacting part. With the accuracy of our time-stepper verified for this system, we were able to study the inverse problem of designing new plate motions to generate a desired part motion. Lastly, we present our initial results of a new non-recursive nonlinear filter using our model of these systems. This filter allows us to estimate the system's parameters, which is a necessary requirement for using simulation for planning and design. The filtering problem is particularly challenging, since the underlying mathematical model is nonsmooth.
机译：为了使机器人系统自动计划和执行涉及间歇性接触的操纵任务，必须能够准确预测被操纵物体的运动。毫不奇怪，许多可能导致闭合形式分析的重要操作问题已得到彻底解决和研究。以间歇性接触为特征的问题是一种特别重要的机器人技术类型，研究必须依靠仿真技术。由于接触的间歇性和粘滑摩擦行为的存在，此类多体系统的动力学模型具有固有的（数学上）不平滑，因此难以准确或快速集成。商业上可用的软件工具很难模拟具有单方面约束的系统，这是指允许接触物体接触或分离但不能相互渗透的约束。用户期望花费大量精力进行反复试验以寻找良好的仿真参数，以获得可信的，不一定准确的结果。即使对于表面上看似简单的球而言，仅在重力的影响下在水平面上滚动的问题，对于商用模拟器来说也是具有挑战性的。正确处理单边接触约束是许多商业仿真软件包所面临的最困难的挑战之一。;本文涉及将仿真用于间歇接触机器人系统的规划和设计中。如前所述，此类系统出现在许多应用中，包括自动化制造，医疗保健和个人机器人技术。这些看似无关的应用程序区域之间的关系是由位于非结构化世界中的交互式机器人设备的需求所建立的。更好地了解动力学，尤其是接触动力学，将使我们能够改善这些系统的自治性。在本工作的第一部分中，我们介绍了四种新的时间步调方法，这些方法是出于多种原因而构造的，包括准确性，性能和设计。接下来，我们开发了实现这些新方法的仿真软件包（称为daVinci Code）。该软件工具有助于间歇性单边接触的多体系统的仿真，分析和虚拟设计。接下来，对我们的时间步长方法的适用性进行了研究。我们对方法的准确性进行了数值研究，并在由振动刚性板和相互作用部件组成的系统上通过实验验证了我们的时间步进器。通过验证该系统的时间步进精度，我们能够研究设计新的板块运动以生成所需零件运动的反问题。最后，我们使用这些系统的模型介绍了新的非递归非线性滤波器的初步结果。该过滤器使我们能够估计系统参数，这是使用仿真进行规划和设计的必要要求。过滤问题特别具有挑战性，因为基础数学模型不平滑。

著录项

  • 作者

    Berard, Stephen George.;

  • 作者单位

    Rensselaer Polytechnic Institute.;

  • 授予单位 Rensselaer Polytechnic Institute.;
  • 学科 Engineering Robotics.;Computer Science.
  • 学位 Ph.D.
  • 年度 2009
  • 页码 184 p.
  • 总页数 184
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 自动化技术、计算机技术;
  • 关键词

  • 入库时间 2022-08-17 11:38:29

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