Advancements in dynamic modeling methods of robotic manipulator are critical to the effective implementation of model-based control.Traditional approaches rely on rigorous first-principles-based dynamic modeling and p...Advancements in dynamic modeling methods of robotic manipulator are critical to the effective implementation of model-based control.Traditional approaches rely on rigorous first-principles-based dynamic modeling and precise parameter identification,while this paper explores an altemative through data-driven model reconstruction.To tackle the curse of dimensionality in the model reconstruction of a serial robotic manipulator with multi-degree-of-freedom,a relative activation indicator is proposed.Based on this indicator,the k-means clustering algorithm is utilized to classify the data under different working conditions.Sub-sequently,we leverage the fundamental prior knowledge to find the dynamical characteristics of each cluster and reconstruct the dynamic model in a stepwise manner using the method of sparse identification of nonlinear dynamics(SINDy).For the library generation of SINDy,the strategy of double-feature-set for serial manipulators with common joint types is proposed.Simula-tion results show that the stepwise model reconstruction approach not only reduces the size of the library of candidate functions but also decreases the impact of data noise on the reconstruction results.Finally,controllers based on the reconstructed mod.els are deployed on the experimental platform and the experimental results demonstrate the improvement in trajectory tracking performance and the potential of the proposed method in engineering applications.展开更多
Prostatic hyperplasia and tumor are common diseases,and the minimally invasive surgery inserting the instruments through the urethra into the prostate is commonly conducted.Taking the robotic manipulator for such surg...Prostatic hyperplasia and tumor are common diseases,and the minimally invasive surgery inserting the instruments through the urethra into the prostate is commonly conducted.Taking the robotic manipulator for such surgery into consideration,this paper analyses the workspace of the end effector,and proposes the distribution error of the fixed point and the tracking error of manipulator end effector on the cone bottom surface of the workspace as the basis for control implementation of the manipulator.The D-H coordinate system of the manipulator is established and the trajectory planning of the end effector in the Cartesian space is carried out.The digital model was established,and dynamics simulation was performed in Solidworks and Matlab/Simulink environment to guide the manipulator design.Trajectory mapping and synchronization control between virtual model and the actual manipulator are realized based on digital twin technique.The virtual manipulator can reflect the real-time state of the manipulator with data interaction by comparing the dynamics simulation results with the motor current values obtained by experiment.Experiment was carried out with PD feedback control and Newton-Euler dynamics based feedforward control to get the trajectory tracking characteristic of each motor,errors of the fixed point and tracking performance of the end effector of the manipulator.The results show that compared with PD feedback control,feed forward control implementation can achieve a reduction of 30.0%in the average error of the fixed point of the manipulator and a reduction of 33.3%in the maximum error.展开更多
This paper presents a new method of analyzing the orientation angle rotatability of a planar serial n-link manipulator by examining the rotatability of its virtual equivalent mechanism.Workspace orientation boundary r...This paper presents a new method of analyzing the orientation angle rotatability of a planar serial n-link manipulator by examining the rotatability of its virtual equivalent mechanism.Workspace orientation boundary region decomposition is proposed based on the polynomial discriminant derived from a serial three-link manipulator.Orientation angle workspace indicates a set of angle ranges by which the end-effector can reach with certain orientation for every point in the reachable position workspace.By introducing a virtual equivalent mechanism,the open-chain kinematic problem is converted into a close-chain mechanism,and the Grashof-type condition is used to examine the rotatability of the end-effector link.The reachable position workspace can be divided into several Grashof intervals and non-Grashof intervals based on the extreme positions and singular configurations of a manipulator.The derived equations in this paper can be used to calculate the variation rule of the orientation angle workspace of any given planar serial n-link manipulator on the basis of its link parameters.The orientation angle rotatability of a seven-link serial manipulator is solved by the proposed method and graphical representations of the orientation angle workspaces are mapped onto a three-dimensional coordinate system.The theoretical approach has practical significance for the design of a highly dexterous serial n-link manipulator with proposed link relations.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.12072237,12472022,12372022,12372065,and U2441202)the Fundamental Research Funds for the Central Universities(Grant No.22120220590)。
文摘Advancements in dynamic modeling methods of robotic manipulator are critical to the effective implementation of model-based control.Traditional approaches rely on rigorous first-principles-based dynamic modeling and precise parameter identification,while this paper explores an altemative through data-driven model reconstruction.To tackle the curse of dimensionality in the model reconstruction of a serial robotic manipulator with multi-degree-of-freedom,a relative activation indicator is proposed.Based on this indicator,the k-means clustering algorithm is utilized to classify the data under different working conditions.Sub-sequently,we leverage the fundamental prior knowledge to find the dynamical characteristics of each cluster and reconstruct the dynamic model in a stepwise manner using the method of sparse identification of nonlinear dynamics(SINDy).For the library generation of SINDy,the strategy of double-feature-set for serial manipulators with common joint types is proposed.Simula-tion results show that the stepwise model reconstruction approach not only reduces the size of the library of candidate functions but also decreases the impact of data noise on the reconstruction results.Finally,controllers based on the reconstructed mod.els are deployed on the experimental platform and the experimental results demonstrate the improvement in trajectory tracking performance and the potential of the proposed method in engineering applications.
基金Supported by National Natural Science Foundation of China(Grant No.51675400).
文摘Prostatic hyperplasia and tumor are common diseases,and the minimally invasive surgery inserting the instruments through the urethra into the prostate is commonly conducted.Taking the robotic manipulator for such surgery into consideration,this paper analyses the workspace of the end effector,and proposes the distribution error of the fixed point and the tracking error of manipulator end effector on the cone bottom surface of the workspace as the basis for control implementation of the manipulator.The D-H coordinate system of the manipulator is established and the trajectory planning of the end effector in the Cartesian space is carried out.The digital model was established,and dynamics simulation was performed in Solidworks and Matlab/Simulink environment to guide the manipulator design.Trajectory mapping and synchronization control between virtual model and the actual manipulator are realized based on digital twin technique.The virtual manipulator can reflect the real-time state of the manipulator with data interaction by comparing the dynamics simulation results with the motor current values obtained by experiment.Experiment was carried out with PD feedback control and Newton-Euler dynamics based feedforward control to get the trajectory tracking characteristic of each motor,errors of the fixed point and tracking performance of the end effector of the manipulator.The results show that compared with PD feedback control,feed forward control implementation can achieve a reduction of 30.0%in the average error of the fixed point of the manipulator and a reduction of 33.3%in the maximum error.
基金supported by the Natural Science Foundation of Shanxi Province of China(Grant No.2010011036-1)
文摘This paper presents a new method of analyzing the orientation angle rotatability of a planar serial n-link manipulator by examining the rotatability of its virtual equivalent mechanism.Workspace orientation boundary region decomposition is proposed based on the polynomial discriminant derived from a serial three-link manipulator.Orientation angle workspace indicates a set of angle ranges by which the end-effector can reach with certain orientation for every point in the reachable position workspace.By introducing a virtual equivalent mechanism,the open-chain kinematic problem is converted into a close-chain mechanism,and the Grashof-type condition is used to examine the rotatability of the end-effector link.The reachable position workspace can be divided into several Grashof intervals and non-Grashof intervals based on the extreme positions and singular configurations of a manipulator.The derived equations in this paper can be used to calculate the variation rule of the orientation angle workspace of any given planar serial n-link manipulator on the basis of its link parameters.The orientation angle rotatability of a seven-link serial manipulator is solved by the proposed method and graphical representations of the orientation angle workspaces are mapped onto a three-dimensional coordinate system.The theoretical approach has practical significance for the design of a highly dexterous serial n-link manipulator with proposed link relations.
