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首页> 外文期刊>IEEE Transactions on Robotics >Benefiting From Kinematic Redundancy Alongside Mono- and Biarticular Parallel Compliances for Energy Efficiency in Cyclic Tasks
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Benefiting From Kinematic Redundancy Alongside Mono- and Biarticular Parallel Compliances for Energy Efficiency in Cyclic Tasks

机译：受益于运动冗余以及单关节和双关节并行顺应性，可提高循环任务的能效

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摘要

In this paper, we answer two interleaved questions. The first one is, having a redundant serial manipulator with a given cyclic task, how can we benefit simultaneously from both natural dynamics modification (NDM) and kinematic redundancy resolution to reduce the actuators’ torque? Here, the NDM is done by devising parallel nonlinear monoarticular compliances (MACs), which span one joint, and nonlinear biarticular compliances (BACs), which pass over two joints. We take advantage of kinematic redundancy to exploit the robot's natural dynamics. The second question is how do kinematic redundancy resolution and the NDM interact to minimize the cost? To answer these questions, we cast the problem of simultaneous modification and exploitation of natural dynamics into a constrained multiobjective optimization problem. We show that the set of optimal compliances has an analytical solution as a parametric function of joint trajectories. Accordingly, we study how the components of cost function affect the profile of optimal compliant elements. The proposed method is implemented on a simulated planar 3-DoF manipulator and a simulated nonplanar 4-DoF manipulator for three different tasks. The results shed light on how kinematic redundancy resolution influences efficiency of using MACs and BACs and, consequently, increases attainable gains from the NDM. Moreover, analysis of the results specifies the roles of mono- and BACs and especially explains the reason behind the particular importance of having BACs to reduce the actuation cost.
机译：在本文中，我们回答了两个交错的问题。第一个是，具有一个执行给定循环任务的冗余串行机械手，我们如何才能同时从自然动力学修改（NDM）和运动学冗余分辨率中受益，以降低执行器的扭矩？在这里，NDM是通过设计跨一个关节的平行非线性单关节顺应性（MAC）和跨越两个关节的非线性双关节顺应性（BAC）来完成的。我们利用运动学冗余来利用机器人的自然动力学。第二个问题是运动学冗余解析和NDM如何相互作用以最小化成本？为了回答这些问题，我们将同时修改和利用自然动力学的问题转换成一个受约束的多目标优化问题。我们表明，最佳合规性集合具有解析解作为关节轨迹的参数函数。因此，我们研究了成本函数的各个组成部分如何影响最佳顺应性要素的分布。所提出的方法在用于三个不同任务的模拟平面3-DoF机械手和模拟非平面4-DoF机械手上实现。结果揭示了运动冗余分辨率如何影响MAC和BAC的使用效率，从而增加了NDM可获得的收益。此外，对结果的分析说明了单声道和BAC的作用，并特别说明了拥有BAC来降低执行成本特别重要的原因。

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  • 来源
    《IEEE Transactions on Robotics》 |2017年第5期|1088-1102|共15页
  • 作者

    Hamed Jalaly Bidgoly; Atoosa Parsa; Mohammad Javad Yazdanpanah; Majid Nili Ahmadabadi;

  • 作者单位

    Cognitive Systems Laboratory, Control and Intelligent Processing Center of Excellence, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran;

    Cognitive Systems Laboratory, Control and Intelligent Processing Center of Excellence, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran;

    Advanced Control Systems Laboratory, Control and Intelligent Processing Center of Excellence,  School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran;

    Cognitive Systems Laboratory, Control and Intelligent Processing Center of Excellence, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Torque; Robot kinematics; Trajectory; Manipulators; Kinematics; Redundancy;

    机译：扭矩;机器人运动学;轨迹;机械手;运动学;冗余;

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