Predictive sensor guided robotic manipulators in automated welding cells
Predictive sensor guided robotic manipulators in automated welding cells
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DOI：
10.1016/s0924-0136(00)00771-8
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发表时间：
2001-02-01
影响因子：
6.3
通讯作者：
Dobrzanski, LA
中科院分区：
文献类型：
--
作者：
Bauchspiess, A;Alfaro, SCA;Dobrzanski, LA
本文提出了一种基于传感器信息、机械手动力学和路径生成器模型的传感器引导机器人在线跟踪优化方案。反馈线性化解耦允许使用线性SISO预测模型的每个机器人关节的动态。CCD摄像机图像的场景解释生成未来轨迹的样条拟合段。在传感器视觉领域，所提出的优化准则最小化预测模型的状态变量和样条轨迹发生器的状态变量之间的误差。这些技术，结盟与分离的干扰抑制和路径跟踪性能的建议前馈以下模型预测（FMP）伺服控制器的设计，允许非常高的路径跟踪动态（因此小的误差）。CCD摄像头引导的液压机器人和焊接机器人的实施实验结果表明，所提出的方法的实际意义。(C)2001 Elsevier Science B.V.保留所有权利。
This paper presents an on-line tracking optimization scheme for sensor guided robotic manipulators by associating sensor information, manipulator dynamics and a path generator model. Feedback linearization-decoupling permits the use of linear SISO prediction models for the dynamics of each robot joint. Scene interpretation of CCD-camera images generates spline fitted segments of future trajectory. In the sensor vision field the proposed optimization criteria minimizes the error between state variables of the prediction model and the state variables of the spline trajectory generator. These techniques, allied with separation of disturbance rejection and path-tracking performance by the proposed feed-forward following model predictive (FMP) servo-controller design, permits very high path tracking dynamics (and consequently small errors). Experimental results on implementation of a CCD-camera guided hydraulic robot and a welding robot demonstrates the practical relevance of the proposed approach. (C) 2001 Elsevier Science B.V. All rights reserved.