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A Novel Posture Positioning Method for Multi-Joint Manipulators

机译：一种多联合机械手的新型姿势定位方法

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摘要

Safety and automatic control are extremely important when operating manipulators. For large engineering manipulators, the main challenge is to accurately recognize the posture of all arm segments. In classical sensing methods, the accuracy of an inclinometer is easily affected by the elastic deformation in the manipulator's arms. This results in big error accumulations when sensing the angle of joints between arms one by one. In addition, the sensing method based on machine vision is not suitable for such kind of outdoor working situation yet. In this paper, we propose a novel posture positioning method for multi-joint manipulators based on wireless sensor network localization. The posture sensing problem is formulated as a Nearest-Euclidean-Distance-Matrix (NEDM) model. The resulting approach is referred to as EDM-based posture positioning approach (EPP) and it satisfies the following guiding principles: (i) The posture of each arm segment on a multi-joint manipulator must be estimated as accurately as possible; (ii) The approach must be computationally fast; (iii) The designed approach should not be susceptible to obstructions. To further improve accuracy, we explore the inherent structure of manipulators, i.e., fixed-arm length. This is naturally presented as linear constraints in the NEDM model. For concrete pumps, a typical multi-joint manipulator, the mechanical property that all arm segments always lie in a 2D plane is used for dimension-reduction operation. Simulation and experimental results show that the proposed method provides efficient solutions for posture sensing problem and can obtain preferable localization performance with faster speed than applying the existing localization methods.
机译：操作操纵器时的安全性和自动控制非常重要。对于大型工程机械手，主要挑战是准确地识别所有手臂段的姿势。在古典传感方法中，倾角仪的精度容易受到操纵器臂中弹性变形的影响。当感测臂之间的接头角度时，这导致大误差累积。此外，基于机器视觉的传感方法尚不适用于这种户外工作情况。本文提出了一种基于无线传感器网络定位的多联合机械手的新型姿势定位方法。姿势传感问题被制定为最近的欧几里德 - 距离矩阵（NEDM）模型。得到的方法被称为基于EDM的姿势定位方法（EPP），它满足以下引导原理：（i）必须尽可能准确地估计多联合机械手上的每个臂段的姿势; （ii）该方法必须快速计算; （iii）设计的方法不容易于障碍物。为了进一步提高准确性，我们探讨了操纵器的固有结构，即固定臂长度。这是自然呈现为NEDM模型中的线性约束。对于混凝土泵，典型的多关节机械手，所有臂段总是位于2D平面中的机械性能用于尺寸减少操作。仿真和实验结果表明，该方法为姿势传感问题提供了有效的解决方案，并且可以使用比应用现有的本地化方法更快的速度获得优选的本地化性能。

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