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1、外文翻译译文题目一种与移动机械臂的局部零件所受载荷相协调的运动结构(2)原稿题目AkinematicallyCOmPatibleframeworkforCOoPeratiVePaylOadtransportbySonholonomicmobilemanipulators(2)原稿出处AUtOnRobot(2006)21:227-242Akinematicallycompatibleframeworkforcooperativepayloadtransportbynonholonomicmobilemanipulators(2)M.Abou-Samah1,C.P.Tang2,R.M.Bhatt2
2、andV.Krovi2(1) MSCSoftwareCorporation,AnnArbor,Ml48105,USA(2) MechanicalandAerospaceEngineering,StateUniversityofNewYorkatBuffalo,Buffalo,NY14260,USAReceived:5August2005Revised:25May2006Accepted:30May2006Publishedonline:5September2006AbstractInthispaper,weexaminethedevelopmentofakinematicallycompati
3、blecontrolframeworkforamodularsystemofwheeledmobilemanipulatorsthatcanteamuptocooperativelytransportacommonpayload.Eachindividuallyautonomousmobilemanipulatorconsistsofadifferentially-drivenWheeledMobileRobot(WMR)withamountedtwodegree-of-freedom(d.o.f)revolute-jointed,planarandpassivemanipulatorarm.
4、Thecompositewheeledvehicle,formedbyplacingapayloadattheend-effectorsoftwo(ormore)suchmobilemanipulators,hasthecapabilitytoaccommodate,detectandcorrectbothinstantaneousandfiniterelativeconfigurationerrors.Thekinematica11y-compatib1emotion-planning/controlframeworkdevelopedhereisintendedtofacilitatema
5、intenanceofallkinematic(holonomicandnonholonomic)constraintswithinsuchsystems.Givenanarbitraryend-effectortrajectory,eachindividualmobi1e-manipu1ator,sbi-levelhierarchicalcontrollerfirstgeneratesakinematically-feasibledesiredtrajectoryfortheWMRbase,whichisthentrackedbyasuitablelower-levelposturestab
6、ilizingcontroller.Twovariantsofsystem-levelcooperativecontrolschemesleader-followeranddecentralizedcontrolarethencreatedbasedontheindividualmobi1e-manipuIatorcontrolscheme.Bothmethodsareevaluatedwithinanimplementationframeworkthatemphasizesbothvirtualprototyping(VP)andhardware-in-the-loop(HIL)experi
7、mentation.Simulationandexperimentalresultsofanexampleofatwo-modulesystemareusedtohighlightthecapabilitiesofareal-timelocalsensor-basedcontrollerforaccommodation,detectionandcorectionofrelativeformationerrors.KeywordsCompositesystem-Hardware-in-the-loop-MobilemanipuIator-Physicalcooperation-Redundanc
8、yresolution-VirtualprototypingKinematiccollaborationoftwomobilemanipulatorsWenowexaminetwovariantsofsystem-levelcooperativecontrolschemes-leader-followeranddecentralizedcontrol-thatcanbecreatedbasedontheindividualmobi1e-manipu1atorcontrolscheme.1.eader-followerapproachThefirstmethodofmodelingsuchasy
9、stemconsidersthemidpointofthemobilebase(MPB)ofthemobi1e-manipuIatorBtoberigidlyattachedtotheend-effectorofmobilemanipulatorA,asdepictedinFig.4.Figure4(b)depictshowtheend-effectorframe用ofMPAisrigidlyattachedtotheframeatMPB(separatedbyaconstantrotationangle).co0anj3Xg0Yt(15)Fig.4Schematicdiagramsofthe
10、leader-followerscheme:(a)the3-linkmobilemanipulatorunderanalysis,and(b)thetwo-modulecompositesystem(*),玦),g(2),MPBnowtakesontheroleoftheleaderandcanbecontrolledtofollowanytrajectorythatisfeasibleforaWMR.Hence,givenatrajectoryoftheleaderMPBand the preferred manipulator configuration of( M(e)(5) can b
11、e rewritten as:X，_co8XYi=sin/5cob0Y；三inco-rfcc4-in,rfLj+LcosLjco空1.ISm%+三nC0Sinyc07-smqi323-Lsin11.11三)Ljc03Ljcott0|彳(16)andcorrespondinglyEqs.(6)-(8)as:(17)(部三(2)+M)xi-jx(%7rco也Thus,thetrajectoryofthevirtual(reference)robotforthefollowerMPA(Xf,F,CIvf).u4C),andthederivedvelocitiescannowbedetermined.
12、Thisformstheleader-followerschemeusedforthecontrolofthecollaborativesystemcarryingacommonpayload.DecentralizedapproachThesecondapproachconsiderstheframeattachedtoapointofinterestonthecommonpayloadastheend-effectorframeofboththeflankingmobilemanipulatorsystems,asdepictedinFig.5.Thus,adesiredtrajector
13、yspecifiedforthispayloadframecanthenprovidethedesiredreferencetrajectoriesforthetwomobileplatformsusingthesimilarframeworkdevelopedintheprevioussectionbytaking人工3=and0*),wherek=A,B.ThispermitsEq.(5)toberewrittenas:气4AilkYieo4-4coV一mVsin/cosFig. 5 Decentralizedcontrolschemeimplementationpermitsthe(a)
14、compositesystem;tobetreatedas(b)twoindependent2-linkmobilemanipulatorsS=慧)，=(), (tvi),kd v 上 W * Yd(kiVandcorrespondinglyEq.(6)-(8)as:(19)Eachtwo-linkmobilemanipulatornowcontrolsitsconfigurationwithreferencetothiscommonend-effectorframemountedonthepayload.However,thelocationsoftheattachmentsofthephy
15、sicalmanipulatorswithrespecttothepayloadreferenceframemustbeknownapriori.ImplementationframeworkWeexaminethedesignanddevelopmentofatwo-stageimplementationframework,showninFig.6,thatemphasizesbothvirtualprototyping(VP)basedrefinementandhardware-in-1he-1oop(HIL)experimentation.Fig. 6 ParadigmforrapiddevelopmentandtestingofthecontrolschemeonvirtualandphysicalprototypesVirtualprototypingbasedrefinementInthefirststage,weemployvirtualprototyping(VP)toolstorapidlycreate,evaluateandrefineparametricmodelsoftheoverallsystemandtestvariousalgorithmsinsimulationwithinavirtualenviron
