簡介：NONLINEARDISTURBANCEOBSERVERDESIGNFORROBOTICMANIPULATORSAMOHAMMADIA,?,MTAVAKOLIB,??,HJMARQUEZB,FHASHEMZADEHB,AEDWARDSROGERSSRDEPARTMENTOFELECTRICALCOMPUTERENGINEERING,UNIVERSITYOFTORONTO,TORONTO,ONTARIO,CANADAM5S3G4BDEPARTMENTOFELECTRICALCOMPUTERENGINEERING,UNIVERSITYOFALBERTA,EDMONTON,ALBERTA,CANADAT6G2V4ABSTRACTROBOTICMANIPULATORSAREHIGHLYNONLINEARANDCOUPLEDSYSTEMSTHATARESUBJECTTODIFFERENTTYPESOFDISTURBANCESSUCHASJOINTFRICTIONS,UNKNOWNPAYLOADS,VARYINGCONTACTPOINTS,ANDUNMODELEDDYNAMICSTHESEDISTURBANCES,WHENUNACCOUNTEDFOR,ADVERSELYAFFECTTHEPERFORMANCEOFTHEMANIPULATOREMPLOYINGADISTURBANCEOBSERVERISACOMMONMETHODTOREJECTSUCHDISTURBANCESINADDITIONTODISTURBANCEREJECTION,DISTURBANCEOBSERVERSCANBEUSEDINFORCECONTROLAPPLICATIONSRECENTLY,RESEARCHHASBEENDONEREGARDINGTHEDESIGNOFNONLINEARDISTURBANCEOBSERVERSNLDOSFORROBOTICMANIPULATORSINSPITEOFGOODRESULTSINTERMSOFDISTURBANCETRACKING,THEPREVIOUSLYDESIGNEDNONLINEARDISTURBANCEOBSERVERSCANMERELYBEUSEDFORPLANARSERIALMANIPULATORSWITHREVOLUTEJOINTSCHEN,WH,BALLANCE,DJ,GAWTHORP,PJ,O’REILLY,J,2000ANONLINEARDISTURBANCEOBSERVERFORROBOTICMANIPULATORSIEEETRANSINDELECTRON47,932–938,NIKOOBIN,A,HAGHIGHI,R,2009LYAPUNOVBASEDNONLINEARDISTURBANCEOBSERVERFORSERIALNLINKMANIPULATORSJINTELLROBOTSYST55,135–153INTHISPAPER,AGENERALSYSTEMATICAPPROACHISPROPOSEDTOSOLVETHEDISTURBANCEOBSERVERDESIGNPROBLEMFORROBOTICMANIPULATORSWITHOUTRESTRICTIONSONTHENUMBEROFDEGREESOFFREEDOMDOFS,THETYPESOFJOINTS,ORTHEMANIPULATORCONFIGURATIONMOREOVER,THISDESIGNMETHODDOESNOTNEEDTHEEXACTDYNAMICMODELOFTHESERIALROBOTICMANIPULATORTHISMETHODALSO?CORRESPONDINGAUTHOR,TEL16479780140??PRINCIPALCORRESPONDINGAUTHOR,TEL17804928935,FAX17804921811EMAILADDRESSESALIREZAMOHAMMADIMAILUTORONTOCAAMOHAMMADI,MAHDITAVAKOLIUALBERTACAMTAVAKOLI,HMARQUEZUALBERTACAHJMARQUEZ,FARZADHASHEMZADEHUALBERTACAFHASHEMZADEHPREPRINTSUBMITTEDTOCONTROLENGINEERINGPRACTICEOCTOBER22,2012THISPAPERAPPEARSINCONTROLENGINEERINGPRACTICE,2012HTTP//DXDOIORG/101016/JCONENGPRAC201210008FIGURE1BLOCKDIAGRAMOFATYPICALDISTURBANCEOBSERVERINAROBOTICAPPLICATIONAPPLICATIONOFDISTURBANCEOBSERVERSISINIMPROVINGMANIPULATORTRACKINGPERFORMANCETHROUGHFRICTIONESTIMATIONANDCOMPENSATIONBONAANDINDRI,2005,SAWUTETAL,2001INMOHAMMADIETAL,2011A,THEAUTHORSPROPOSEDANONLINEARDISTURBANCEOBSERVERBASEDCONTROLLAWTHATGUARANTEEDASYMPTOTICTRAJECTORYANDDISTURBANCETRACKINGINTHEPRESENCEOFSLOWVARYINGDISTURBANCESONEIMPORTANTASPECTOFDISTURBANCEOBSERVERBASEDFRICTIONCOMPENSATIONSCHEMESISINTHATTHEYARENOTBASEDONANYPARTICULARFRICTIONMODELSBONAANDINDRI,2005DISTURBANCEOBSERVERSHAVERECENTLYBEENUSEDINTIMEDELAYEDBILATERALTELEOPERATIONINORDERTOIMPROVETHETRANSPARENCYOFTELEROBOTICSYSTEMSNATORIETAL,2010,NATORIETAL,2007ANDNATORIETAL,2006INTIMEDELAYEDTELEOPERATION,THEDELAYEDPOSITION/FORCESIGNALSARERECEIVEDFROMTHECOMMUNICATIONCHANNELINTHEMASTERANDTHESLAVESIDESTHETIMEDELAYEDPOSITION/FORCESIGNALSARETHENADDEDTOTHEOUTPUTOFTHEDISTURBANCEOBSERVERINORDERTOPROVIDETHEMASTERANDTHESLAVEROBOTSWITHESTIMATIONOFTHEUNDELAYEDVERSIONSOFTHEPOSITION/FORCESIGNALSANDTHUSIMPROVETHETELEOPERATIONSYSTEMTRANSPARENCYNATORIETAL,2010INMOHAMMADIETAL,2011B,THEAUTHORSIMPLEMENTEDAPAIROFNONLINEARDISTURBANCEOBSERVERSINA4CHANNELBILATERALTELEOPERATIONARCHITECTURETOACHIEVEFULLTRANSPARENCYINTHEABSENCEOFCOMMUNICATIONTIMEDELAYSINBOTHFREEANDCONSTRAINEDMOTIONSINTHATWORK,HOWEVER,THEAVAILABILITYOFJOINTACCELERATIONMEASUREMENTS,WHICHISNECESSARYFORACHIEVINGFULLTRANSPARENCY,SIMPLIFIEDDESIGNOFDISTURBANCEOBSERVERSBESIDESDISTURBANCEREJECTION,DISTURBANCEOBSERVERSHAVEFOUNDAPPLICATIONSINOTHERROBOTICSCONTEXTSINMANYROBOTICSAPPLICATIONS,THEROBOTENDEFFECTORCOMESINCONTACTWITHACOMPLIANTSURFACEANDAFORCECONTROLSCHEMEISNEEDEDTOGUARANTEEGOODSYSTEMPERFORMANCETHEREFORE,AFORCESENSORISNEEDEDTOMEASURETHESECONTACTFORCESDISTURBANCEOBSERVERS3

簡介：INTJADVMANUFTECHNOL200731797–804DOI101007/S0017000502325ORIGINALARTICLEZHIQILIUTATSUYANAKAMURACOMBINATIONOFROBOTCONTROLANDASSEMBLYPLANNINGFORAPRECISIONMANIPULATORRECEIVED22MARCH2005/ACCEPTED1AUGUST2005/PUBLISHEDONLINE15FEBRUARY2006SPRINGERVERLAGLONDONLIMITED2006ABSTRACTTHISPAPERRESEARCHESHOWTOREALIZETHEAUTOMATICASSEMBLYOPERATIONONATWOFINGERPRECISIONMANIPULATORAMULTILAYERASSEMBLYSUPPORTSYSTEMISPROPOSEDATTHETASKPLANNINGLAYER,BASEDONTHECOMPUTERAIDEDDESIGNCADMODEL,THEASSEMBLYSEQUENCEISFIRSTGENERATED,ANDTHEINFORMATIONNECESSARYFORSKILLDECOMPOSITIONISALSODERIVEDTHEN,THEASSEMBLYSEQUENCEISDECOMPOSEDINTOROBOTSKILLSATTHESKILLDECOMPOSITIONLAYERTHESEGENERATEDSKILLSAREMANAGEDANDEXECUTEDATTHEROBOTCONTROLLAYEREXPERIMENTALRESULTSSHOWTHEFEASIBILITYANDEFFICIENCYOFTHEPROPOSEDSYSTEMKEYWORDSMANIPULATORASSEMBLYPLANNINGSKILLDECOMPOSITIONAUTOMATEDASSEMBLY1INTRODUCTIONOWINGTOTHEMICROELECTROMECHANICALSYSTEMSMEMSTECHNIQUES,MANYPRODUCTSAREBECOMINGVERYSMALLANDCOMPLEX,SUCHASMICROPHONES,MICROOPTICALCOMPONENTS,ANDMICROFLUIDICBIOMEDICALDEVICES,WHICHCREATESINCREASINGNEEDSFORTECHNOLOGIESANDSYSTEMSFORTHEAUTOMATEDPRECISIONASSEMBLYOFMINIATUREPARTSMANYEFFORTSAIMINGATSEMIAUTOMATEDORAUTOMATEDASSEMBLYHAVEBEENFOCUSEDONMICROASSEMBLYTECHNOLOGIES1–3HOWEVER,MICROASSEMBLYTECHNIQUESOFHIGHFLEXIBILITY,EFFICIENCY,ANDRELIABILITYSTILLOPENTOFURTHERRESEARCHTHISPAPERRESEARCHESHOWTOREALIZETHEAUTOMATICASSEMBLYOPERATIONONATWOFINGERMICROMANIPULATORAMULTILAYERASSEMBLYSUPPORTSYSTEMISPROPOSEDAUTOMATICASSEMBLYISACOMPLEXPROBLEMWHICHMAYINVOLVEMANYDIFFERENTISSUES,SUCHASTASKPLANNING,ASSEMBLYSEQUENCESGENERATION,EXECUTION,ANDCONTROL,ETCITCANBESIMPLYDIVIDEDINTOTWOPHASESTHEASSEMBLYPLANNINGANDTHEROBOTCONTROLATTHEASSEMBLYPLANNINGPHASE,THEINFORMATIONNECESSARYFORASSEMBLYOPERATIONS,SUCHASTHEASSEMBLYSEQUENCE,ISGENERATEDATTHEROBOTCONTROLPHASE,THEROBOTISDRIVENBASEDONTHEINFORMATIONGENERATEDATTHEASSEMBLYPLANNINGPHASE,ANDTHEASSEMBLYOPERATIONSARECONDUCTEDSKILLPRIMITIVESCANWORKASTHEINTERFACEOFASSEMBLYPLANNINGTOROBOTCONTROLSEVERALROBOTSYSTEMSBASEDONSKILLPRIMITIVESHAVEBEENREPORTED4–6THEBASICIDEABEHINDTHESESYSTEMSISTHEROBOTPROGRAMMINGROBOTMOVEMENTSARESPECIFIEDASSKILLPRIMITIVES,BASEDONWHICHTHEASSEMBLYTASKISMANUALLYCODEDINTOPROGRAMSWITHTHEPROGRAMS,THEROBOTISCONTROLLEDTOFULFILLASSEMBLYTASKSAUTOMATICALLYASKILLBASEDMICROMANIPULATIONSYSTEMHASBEENDEVELOPEDINTHEAUTHORS’LAB,ANDITCANREALIZEMANYMICROMANIPULATIONOPERATIONSINTHESYSTEM,THEASSEMBLYTASKISMANUALLYDISCOMPOSEDINTOSKILLSEQUENCESANDCOMPILEDINTOAFILEAFTERIMPORTINGTHEFILEINTOTHESYSTEM,THESYSTEMCANAUTOMATICALLYEXECUTETHEASSEMBLYTASK7THISPAPERATTEMPTSTOEXPLOREAUSERFRIENDLY,ANDATTHESAMETIMEEASY,SEQUENCEGENERATIONMETHOD,TORELIEVETHEBURDENOFMANUALLYPROGRAMMINGTHESKILLSEQUENCEITISANEFFECTIVEMETHODTODETERMINETHEASSEMBLYSEQUENCEFROMGEOMETRICCOMPUTERAIDEDDESIGNCADMODELSMANYAPPROACHESHAVEBEENPROPOSEDEG,8–11THISPAPERAPPLIESASIMPLEAPPROACHTOGENERATETHEASSEMBLYSEQUENCEITISNOTINVOLVEDWITHTHELOWLEVELDATASTRUCTUREOFTHECADMODEL,ANDCANBEREALIZEDWITHTHEAPPLICATIONPROGRAMMINGINTERFACEAPIFUNCTIONSTHATMANYCOMMERCIALCADSOFTWAREPACKAGESPROVIDEINTHEPROPOSEDAPPROACH,ARELATIONSGRAPHAMONGDIFFERENTCOMPONENTSISFIRSTCONSTRUCTEDBYANALYZINGTHEASSEMBLYMODEL,ANDTHEN,POSSIBLESEQUENCESARESEARCHED,BASEDONZLIUPTCJAPANCOMPANY,OJI525617,KITAKU,TOKYO,1140002,JAPANEMAILLIUZHIQIECOMPMETROUACJPTEL8142677114246FAX814267727TNAKAMURADEPARTMENTOFPRECISIONENGINEERING,TOKYOMETROPOLITANUNIVERSITY,KITAKU,JAPANCONSTRAINT,THEREMAININGDEGREESOFFREEDOMARER1{X,Y,ROTZ}FORTHECOLLINEARCONSTRAINT,THEREMAININGDEGREESOFFREEDOMARER2{Z,ROTZ}R1ANDR2CANALSOBEREPRESENTEDASR1{1,1,0,0,0,1}ANDR2{0,0,1,0,0,1}HERE,1MEANSTHATTHEREISADEGREEOFSEPARATIONBETWEENTHETWOPARTSR1∩R2{0,0,0,0,0,1},ANDSO,THEDEGREEOFFREEDOMAROUNDTHEZAXISWILLBEIGNOREDINTHEFOLLOWINGSTEPSINTHECASETHATTHEREISALOOPINTHERELATIONGRAPH,SUCHASPARTSPART5,PART6,ANDPART7INFIG2,THELOOPHASTOBEBROKENBEFORETHEMATINGDIRECTIONISCALCULATEDUNDERTHEASSUMPTIONTHATALLPARTSINTHECADMODELAREFULLYCONSTRAINEDANDNOTOVERCONSTRAINED,THEFOLLOWINGSIMPLEAPPROACHISADOPTEDFORTHEPARTTINTHELOOP,CALCULATETHENUMBEROF1SINNTI?RI1\RI2\\RINWHERERIKISTHEREMAININGDEGREESOFFREEDOMOFCONSTRAINTKBYPARTIFOREXAMPLE,INFIG2,GIVENTHATTHENUMBEROF1SINUPART5,PART7ANDUPART6,PART7ISLARGERTHANUPART5,PART6ANDUPART6,PART5,RESPECTIVELY,THENITCANBEREGARDEDTHATTHEPOSITIONOFPART7ISDETERMINEDBYCONSTRAINTSWITHBOTHPART5ANDPART6,WHILEPART5ANDPART6CANBEFULLYCONSTRAINEDBYCONSTRAINTSBETWEENPART5ANDPART6WECANUNITEPART5ANDPART6ASONENODEINTHERELATIONGRAPH,ALSOCALLEDACOMPOSITENODE,ASSHOWNINFIG2BTHECOMPOSITENODEWILLBEREGARDEDASASINGLEPART,BUTITISOBVIOUSTHATTHECOMPOSITENODEIMPLIESANASSEMBLYSEQUENCE2CALCULATEMATINGDIRECTIONSFORALLNODESINTHERELATIONGRAPHAGAIN,FORTHEEXAMPLEINFIG3,BEGINNINGATTHESTATETHATTHESHAFTANDTHEHOLEAREASSEMBLED,SEPARATETHEPARTINONEDEGREEOFSEPARATIONBYACERTAINDISTANCELARGERTHANTHEMAXIMUMTOLERANCE,ANDTHENCHECKIFINTERFERENCEOCCURSSEPARATIONINBOTH±XAXISAND±YAXISOFR1CAUSESTHEINTERFERENCEBETWEENTHESHAFTANDTHEHOLESEPARATIONINTHEZDIRECTIONRAISESNOINTERFERENCETHEN,SELECTTHEZDIRECTIONASTHEMATINGDIRECTION,WHICHISREPRESENTEDASAVECTORMMEASUREDINTHECOORDINATESYSTEMOFTHEASSEMBLYITSHOULDBENOTEDTHAT,INSOMECASES,THEREMAYBESEVERALPOSSIBLEMATINGDIRECTIONSFORAPARTTHECONDITIONFORASSEMBLYOPERATIONINTHEMATINGDIRECTIONTOBEENDEDSHOULDBEGIVENWHENCONTACTOCCURSBETWEENPARTSINTHEMATINGDIRECTIONATTHEASSEMBLEDSTATE,WHICHCANBECHECKEDSIMPLYWITHGEOMETRICCONSTRAINTS,THEENDCONDITIONISMEASUREDBYFORCESENSORYINFORMATION,WHEREASPOSITIONINFORMATIONISUSEDASANENDCONDITION3CALCULATETHEGRASPINGPOSITIONINTHISPAPER,PARTSAREHANDLEDANDMANIPULATEDWITHTWOSEPARATEPROBES,WHICHWILLBEDISCUSSEDINTHESECT4,ANDPLANESOREDGESARECONSIDEREDFORGRASPINGINTHECASETHATTHEREARESEVERALMATINGDIRECTIONS,THEGRASPINGPLANESARESELECTEDASG1∩G2∩∩GI,WHEREGIISPOSSIBLEGRASPINGPLANE/EDGESETFORTHEITHMATINGDIRECTIONWHENTHEPARTISATITSFREESTATEFOREXAMPLE,INFIG4,THEPAIRPLANESP1/P1′,P2/P2′,ANDP3/P3′CANSERVEASPOSSIBLEGRASPINGPLANES,ANDTHENTHEGRASPINGPLANESAREGMATING_DIR1∩GMATING_DIR2∩GMATING_DIR3{P1/P1′,P2/P2′,P3/P3′}∩{P1/P1′,P3/P3′}N{P1/P1′,P2/P2′}{P1/P1′}THEAPPROACHINGDIRECTIONOFTHEENDEFFECTORISSELECTEDASTHENORMALVECTOROFTHEGRASPINGPLANESITISOBVIOUSTHATNOTALLPOINTSONTHEGRASPINGPLANECANBEGRASPEDTHEFOLLOWINGMETHODISUSEDTODETERMINETHEGRASPINGAREATHEENDEFFECTOR,WHICHISMODELEDASACUBOID,ISFIRSTADDEDINTHECADMODEL,WITHTHECONSTRAINTOFCOPLANARORTANGENTIALWITHTHEGRASPINGPLANEBEGINNINGATTHEEDGETHATISFARAWAYFROMTHEBASE_PARTINTHEMATINGDIRECTION,MOVETHEENDEFFECTORINTHEMATINGDIRECTIONALONGTHEGRASPINGPLANEUNTILTHEENDEFFECTORISFULLYINCONTACTWITHTHEPART,THEGRASPINGPLANEISFULLYINCONTACTWITHTHEENDEFFECTOR,ORACOLLISIONOCCURSRECORDTHEEDGEANDTHEDISTANCE,BOTHOFWHICHAREMEASUREDINTHEPART’SCOORDINATESYSTEM4SEPARATEGRADUALLYTHETWOPARTSALONGTHEMATINGDIRECTION,WHILECHECKINGINTERFERENCEINTHEOTHERDEGREESOFSEPARATION,UNTILNOINTERFERENCEOCCURSINALLOFTHEOTHERDEGREESOFSEPARATIONTHEREISOBVIOUSLYASEPARATIONDISTANCETHATASSURESINTERFERENCENOTTOOCCURINEVERYDEGREEOFSEPARATIONITISCALLEDTHESAFELENGTHINTHATDIRECTIONTHISLENGTHISUSEDFORTHECOLLISIONFREEPATHCALCULATION,WHICHWILLBEDISCUSSEDINTHEFOLLOWINGSECTION22ASSEMBLYSEQUENCESOMECRITERIACANBEUSEDTOSEARCHTHEOPTIMALASSEMBLYSEQUENCE,SUCHASTHEMECHANICALSTABILITYOFSUBASSEMBLIES,THEDEGREEOFPARALLELEXECUTION,TYPESOFFIXTURES,ETCFIG4GRASPINGPLANESFIG3GEOMETRICCONSTRAINTSOFSHAFTINHOLE799

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