...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Robotics, IEEE Transactions on >The Hidden Robot: An Efficient Concept Contributing to the Analysis of the Controllability of Parallel Robots in Advanced Visual Servoing Techniques
【24h】

The Hidden Robot: An Efficient Concept Contributing to the Analysis of the Controllability of Parallel Robots in Advanced Visual Servoing Techniques

机译：隐藏的机器人：一种有效的概念，有助于分析高级视觉伺服技术中并联机器人的可控性

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Previous works on parallel robots have shown that their visual servoing using the observation of their leg directions was possible. There were, however, found two main results for which no answer was given. These results were: 1) the observed robot that is composed of legs could be controlled in most cases using the observation of only leg directions (), and 2) in some cases, the robot did not converge to the desired end-effector pose, even if the observed leg directions did (i.e., there was not a global diffeomorphism between the observation space and the robot space). Recently, it was shown that the visual servoing of the leg directions of the Gough–Stewart platform and the Adept Quattro was equivalent to controlling other virtual robots that have assembly modes and singular configurations different from those of the real ones. These hidden robot models are tangible visualizations of the mapping between the observation space and the real robots Cartesian space. Thanks to this concept, all the aforementioned points pertaining to the studied robots were answered. In this paper, the concept of the hidden robot model is generalized for any type of parallel robots controlled using visual servos based on the observation of elements other than the end-effector, such as the robot legs into motion. It is shown that the concept of the hidden robot model is a powerful tool that gives useful insights about the visual servoing of robots and that it helps define the necessary features to observe in order to ensure the controllability of the robot in its whole workspace. All theoretical concepts are validated through simulations with an Adams mockup linked to Simulink.
机译：以前在并行机器人上的工作表明，通过观察腿的方向进行视觉伺服是可能的。但是，有两个主要结果没有给出答案。这些结果是：1）在大多数情况下，仅通过观察腿的方向（）即可控制由腿组成的被观察机器人，并且2）在某些情况下，该机器人没有收敛到所需的末端执行器姿势，即使观察到的腿部方向正确（即，观察空间和机器人空间之间没有全局差异）。最近，研究表明，对Gough–Stewart平台和Adept Quattro的腿部方向进行视觉伺服等效于控制其他虚拟机器人，这些虚拟机器人的组装模式和奇异配置与真实机器人不同。这些隐藏的机器人模型是观察空间与实际机器人笛卡尔空间之间映射的有形可视化。由于这个概念，回答了与研究机器人有关的所有上述要点。在本文中，基于对除末端执行器之外的其他元素（例如机器人腿运动）的观察，使用可视化伺服器控制的任何类型的并行机器人都可以使用隐藏机器人模型的概念。结果表明，隐藏的机器人模型的概念是一种功能强大的工具，它可以提供有关机器人视觉伺服的有用见解，并且可以帮助定义必需观察的特征，以确保机器人在整个工作区中均具有可控性。所有理论概念均通过与Simulink链接的Adams样机进行仿真验证。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号