IEEE Trans. Robotics Autom.最新文献_第6页

Singularities of parallel manipulators: a geometric treatment 平行机械臂的奇异性:一种几何处理

IEEE Trans. Robotics Autom. Pub Date : 2003-08-11 DOI: 10.1109/TRA.2003.814507

Guanfeng Liu, Y. Lou, Zexiang Li

{"title":"Singularities of parallel manipulators: a geometric treatment","authors":"Guanfeng Liu, Y. Lou, Zexiang Li","doi":"10.1109/TRA.2003.814507","DOIUrl":"https://doi.org/10.1109/TRA.2003.814507","url":null,"abstract":"A parallel manipulator is naturally associated with a set of constraint functions defined by its closure constraints. The differential forms arising from these constraint functions completely characterize the geometric properties of the manipulator. In this paper, using the language of differential forms, we provide a thorough geometric study on the various types of singularities of a parallel manipulator, their relations with the kinematic parameters and the configuration spaces of the manipulator, and the role redundant actuation plays in reshaping the singularities and improving the performance of the manipulator. First, we analyze configuration space singularities by constructing a Morse function on some appropriately defined spaces. By varying key parameters of the manipulator, we obtain homotopic classes of the configuration spaces. This allows us to gain insight on configuration space singularities and understand how to choose design parameters for the manipulator. Second, we define parametrization singularities which include actuator and end-effector singularities (or other equivalent definitions) as their special cases. This definition naturally contains the closure constraints in addition to the coordinates of the actuators and the end-effector and can be used to search a complete set of actuator or end-effector singularities including some singularities that may be missed by the usual kinematics methods. We give an intrinsic classification of parametrization singularities and define their topological orders. While a nondegenerate singularity poses no problems in general, a degenerate singularity can sometimes be a source of danger and should be avoided if possible.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128291679","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 121

Optimal sensor distribution for variation diagnosis in multistation assembly processes 多工位装配过程中变型诊断的传感器优化分布

IEEE Trans. Robotics Autom. Pub Date : 2003-08-11 DOI: 10.1109/TRA.2003.814516

Yu Ding, Pansoo Kim, D. Ceglarek, Jionghua Jin

{"title":"Optimal sensor distribution for variation diagnosis in multistation assembly processes","authors":"Yu Ding, Pansoo Kim, D. Ceglarek, Jionghua Jin","doi":"10.1109/TRA.2003.814516","DOIUrl":"https://doi.org/10.1109/TRA.2003.814516","url":null,"abstract":"This paper presents a methodology for optimal allocation of sensors in a multistation assembly process for the purpose of diagnosing in a timely manner variation sources that are responsible for product quality defects. A sensor system distributed in such a way can help manufacturers improve product quality while, at the same time, reducing process downtime. Traditional approaches in sensor optimization fall into two categories: multistation sensor allocation for the purpose of product inspection (rather than diagnosis); and allocation of sensors for the purpose of variation diagnosis but at a single measurement station. In our approach, sensing information from different measurement stations is integrated into a state-space model and the effectiveness of a distributed sensor system is quantified by a diagnosability index. This index is further studied in terms of variation transmissibility between stations as well as variation detectability at individual stations. Based on an understanding of the mechanism of variation propagation, we develop a backward-propagation strategy to determine the locations of measurement stations and the minimum number of sensors needed to achieve full diagnosability. An assembly example illustrates the methodology.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134474631","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 109

Generative representations for the automated design of modular physical robots 模块化物理机器人自动化设计的生成表示

IEEE Trans. Robotics Autom. Pub Date : 2003-08-11 DOI: 10.1109/TRA.2003.814502

G. Hornby, Hod Lipson, J. Pollack

{"title":"Generative representations for the automated design of modular physical robots","authors":"G. Hornby, Hod Lipson, J. Pollack","doi":"10.1109/TRA.2003.814502","DOIUrl":"https://doi.org/10.1109/TRA.2003.814502","url":null,"abstract":"The field of evolutionary robotics has demonstrated the ability to automatically design the morphology and controller of simple physical robots through synthetic evolutionary processes. However, it is not clear if variation-based search processes can attain the complexity of design necessary for practical engineering of robots. Here, we demonstrate an automatic design system that produces complex robots by exploiting the principles of regularity, modularity, hierarchy, and reuse. These techniques are already established principles of scaling in engineering design and have been observed in nature, but have not been broadly used in artificial evolution. We gain these advantages through the use of a generative representation, which combines a programmatic representation with an algorithmic process that compiles the representation into a detailed construction plan. This approach is shown to have two benefits: it can reuse components in regular and hierarchical ways, providing a systematic way to create more complex modules from simpler ones; and the evolved representations can capture intrinsic properties of the design space, so that variations in the representations move through the design space more effectively than equivalent-sized changes in a nongenerative representation. Using this system, we demonstrate for the first time the evolution and construction of modular, three-dimensional, physically locomoting robots, comprising many more components than previous work on body-brain evolution.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126942488","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 173

Kinematic controllability and motion planning for the snakeboard 蛇形板的运动学可控性与运动规划

IEEE Trans. Robotics Autom. Pub Date : 2003-06-25 DOI: 10.1109/TRA.2003.810236

F. Bullo, A. D. Lewis

引用次数: 71

Path planning for planar articulated robots using configuration spaces and compliant motion 基于位形空间和柔性运动的平面关节机器人路径规划

IEEE Trans. Robotics Autom. Pub Date : 2003-06-25 DOI: 10.1109/TRA.2003.810237

E. Sacks

引用次数: 23

Motion planning of a climbing parallel robot 攀爬并联机器人的运动规划

IEEE Trans. Robotics Autom. Pub Date : 2003-06-25 DOI: 10.1109/TRA.2003.810238

M. A. Kroeger, R. Saltarén, R. Aracil, Ó. Reinoso

引用次数: 88

Kinematic feasibility analysis of 3-D multifingered grasps 三维多指夹具运动学可行性分析

IEEE Trans. Robotics Autom. Pub Date : 2003-06-25 DOI: 10.1109/TRA.2003.810235

Y. Guan, Hong Zhang

引用次数: 22

Research on estimating smoothed value and differential value by using sliding mode system 滑模系统的光滑值和微分值估计研究

IEEE Trans. Robotics Autom. Pub Date : 2003-06-25 DOI: 10.1109/TRA.2003.810243

T. Emaru, T. Tsuchiya

引用次数: 42

A humanoid shoulder complex and the humeral pointing kinematics 人形肩部复合体及肱骨指向运动学

IEEE Trans. Robotics Autom. Pub Date : 2003-06-25 DOI: 10.1109/TRA.2003.810578

J. Lenarcic, M. Stanisic

引用次数: 87

A holonic architecture for easy reconfiguration of robotic assembly systems 一种易于重构机器人装配系统的全息结构

IEEE Trans. Robotics Autom. Pub Date : 2003-06-25 DOI: 10.1109/TRA.2003.810241

M. Sugi, Y. Maeda, Y. Aiyama, T. Harada, T. Arai

引用次数: 43