SIA OpenIR  > 空间自动化技术研究室
机械臂高斯运动轨迹规划及操作成功概率预估计方法
Alternative TitleTrajectory Planning and Success Probability Estimation of Operation for Gaussian Motion Manipulators
祁若龙; 张珂; 周维佳; 王铁军
Department空间自动化技术研究室
Source Publication机械工程学报
ISSN0577-6686
2019
Volume55Issue:1Pages:42-51
Indexed ByEI ; CSCD
EI Accession number20191706819406
CSCD IDCSCD:6425056
Contribution Rank1
Funding Organization国家自然科学基金(51605474)资助
Keyword机械臂 概率 轨迹规划 最优决策
Abstract当机械臂系统的运动存在过程噪声,或其外部闭环反馈传感器存在观测噪声时,机械臂的单次实际运动轨迹会随机地偏离预定义轨迹,但多次重复运动时又服从一定概率分布,也就是系统存在高斯运动。以自然界最为普遍的高斯分布描述机械臂系统运动状态的非确定性。用概率论的方法结合机械臂本身的线性控制及卡尔曼滤波对机械臂可行轨迹进行规划和先验概率的评估,从而得到机械臂运动误差的先验概率估计。首先,采用线性控制方法和卡尔曼滤波相结合,进行高斯运动系统误差建模;其次,用高斯运动模型对预规划轨迹进行迭代估计,得到单周期轨迹点的误差分布,以此定性评估其运动过程的安全性以及定量计算机械臂到达目标区域的成功概率。最后,通过仿真和试验数据的对比,验证了算法的有效性和实用性。
Other AbstractWhen the manipulator’s movement has process noise, or its external closed-loop feedback sensors have specific observation noise, the single actual movement trajectory of the manipulator can deviate from the predefined trajectory randomly. However, the movement error of the manipulator has a probability distribution when it repeats the same action for many times. The non-deterministic movement state is described by the Gaussian distribution which is widespread in nature. The probability theory combing with the manipulator’s linear control and Kalman filter estimation is used to plan the trajectory and evaluate the apriori probability distribution of movement error of the manipulator. Firstly, Linear control method is used in combination with Kalman filter to establish error model of Gaussian motion system. Then, a predefined trajectory is assessed iteratively with the Gaussian motion model to calculates the error distributions of the entire trajectory. Through Gaussian movement prior probability estimates, the security can be estimated qualitatively and the successful probability of arriving at the object region can be calculated quantificationally. At last, the effectiveness and practicability of the algorithm proposed can be verified by the comparision between simulation and experiment data.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/21589
Collection空间自动化技术研究室
Corresponding Author祁若龙
Affiliation1.沈阳建筑大学机械工程学院
2.中国科学院沈阳自动化研究所机器人学国家重点实验室
Recommended Citation
GB/T 7714
祁若龙,张珂,周维佳,等. 机械臂高斯运动轨迹规划及操作成功概率预估计方法[J]. 机械工程学报,2019,55(1):42-51.
APA 祁若龙,张珂,周维佳,&王铁军.(2019).机械臂高斯运动轨迹规划及操作成功概率预估计方法.机械工程学报,55(1),42-51.
MLA 祁若龙,et al."机械臂高斯运动轨迹规划及操作成功概率预估计方法".机械工程学报 55.1(2019):42-51.
Files in This Item: Download All
File Name/Size DocType Version Access License
机械臂高斯运动轨迹规划及操作成功概率预估(3240KB)期刊论文作者接受稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[祁若龙]'s Articles
[张珂]'s Articles
[周维佳]'s Articles
Baidu academic
Similar articles in Baidu academic
[祁若龙]'s Articles
[张珂]'s Articles
[周维佳]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[祁若龙]'s Articles
[张珂]'s Articles
[周维佳]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 机械臂高斯运动轨迹规划及操作成功概率预估计方法.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.