An Optimal Kinematics Calculation Method for a Multi-DOF Manipulator

• Autorzy: Zheng Y. , Liu J. , Kan J.

Warianty tytułu

PL

Metoda optymalnego obliczania kinematyki manipulatora o wielu stopniach swobody

• Języki publikacji: EN

Abstrakty

EN

Because of the complexity and time-consumption kinematics calculation, it is difficult to get solutions that can meet the requirements of kinematics calculation and real-time motion control simultaneously for the multi-degree of freedom (DOF) manipulator by a single processor. Based on the coordinate rotation digital computer (CORDIC) algorithm, the high-speed inverse kinematics calculation for a six-DOF manipulator is implemented in a co-processor and the motion control strategy is implemented in a host-processor. A pipelined architecture is adopted to reduce the time-consumption of the inverse kinematics calculation. The architecture of the parallel processing method is presented particularly. The experiment shows that time-consumption of the kinematics calculation is greatly reduced and the calculation results meet the requirement on the control accuracy.

PL

Bazując na algorytmie CORDIC (coordinate rotation digital computer) zaproponowano metodę obliczania kinematyki manipulatora o sześciu stopniach swobody. Zastosowano architekturę potokową i równoległe przetwarzanie danych. Osiągnięto znaczące skrócenie czasu obliczeń.

Słowa kluczowe

EN

manipulator; kinematics calculation; CORDIC algorithm

PL

manipulator; kinematyka; algorytm CORDIC

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2012
• Tom: R. 88, nr 7b
• Strony: 320--323
• Opis fizyczny: Bibliogr. 11 poz., schem., tab., wykr.

Twórcy

autor

Zheng Y.

• School of Technology, Beijing Forestry University, Beijing 100083, China

autor

Liu J.

• School of Technology, Beijing Forestry University, Beijing 100083, China

autor

Kan J.

• School of Technology, Beijing Forestry University, Beijing 100083, China

Bibliografia

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• [2] U. Mettin, S. Westerberg, P. X. La Hera, et al. (2009) Analysis of Human-Operated Motions and Trajectory Replanning for Kinematically Redundant Manipulators. IEEE International Conference on Intelligent Robots and Systems, pp: 795-800.
• [3] Huaimin Lu, Lifu Zhang, Xiurong Guo, et al. (2008) Research and Application of Robot Technique in Forestry. IEEE International Conference on Automation and Logistics, pp: 2501-2505.
• [4] Craig J J. (2005) Introduction to Robotics, Mechanics and Control. 3rd edition. Pearson Education Inc., Prentice-Hall.
• [5] Lee C S G. (1988) CORDIC-based Architecture for Robot Direct Kinematics and Jacobian Computations. Proceedings of Third IEEE International Symposium on Intelligent Control. pp: 609-614.
• [6] Uwe Meyer-Basese. (2003) Digital Signal Processing with Field Programmable Gate Arrays. 2nd edition. Springer Press, Berlin.
• [7] Denavit J, Hartenberg R. (1955) A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices. J. of Applied Mechanics,pp:215-221.
• [8] Volder J. (1959) The CORDIC Trigonometric Computing Technique. IRE Trans Electronic Computing, 9(8): 330-334
• [9] Walther J S. (1971) A Unified Algorithm for Elementary Functions. Spring Joint Computer Conference, pp: 379-385
• [10] J.-A.Lee, K.Kim. (1992) Fully-pipelined VLSI architectures for the kinematics of robot arm manipulators. Eleventh Annual International Phoenix Conference on Computers and Communications, pp:80-86.
• [11] C. Krieger, B. J. Hosticka. (1996) Inverse Kinematics Computations with Modified CORDIC Iterations. IEEE Proceedings on Computers and Digital Techniques, Vo.143, Issue 1, pp:87-92.