A branch and prune algorithm for the computation of generalized aspects of parallel robots
A branch and prune algorithm for the computation of generalized aspects of parallel robots
复制标题
用于计算并行机器人广义方面的分支和剪枝算法
DOI：
10.1016/j.artint.2014.02.001
复制
发表时间：
2014
影响因子：
14.4
通讯作者：
C. Jermann
中科院分区：
文献类型：
--
作者：
S. Caro;D. Chablat;A. Goldsztejn;D. Ishii;C. Jermann
并联机器人具有增强的机械特性，必须与更复杂的设计形成对比。特别是，它们在某些姿态下通常具有平行奇点，并且机器人在这种配置中可能变得不可控，甚至可能损坏。因此，计算非奇异可达构形集合中的连通分支（称为广义方面）是其设计中的一个关键问题，本文介绍了一种基于数值约束规划的计算广义方面的证明包围的新方法。虽然这种方法不允许严格计算它们的数量，它构造的非奇异工作空间，允许安全地指挥并联机器人的内部近似。它还提供了广义方面的确切数量的下限。此外，它是第一个通用的方法，能够处理任何并联机器人在理论上，虽然其计算复杂性目前限制其使用的机器人与三个自由度。最后，它所依赖的约束编程范式使得可以考虑各种附加约束（例如，避免碰撞），使其适合于实际考虑。
Parallel robots enjoy enhanced mechanical characteristics that have to be contrasted with a more complicated design. In particular, they often have parallel singularities at some poses, and the robots may become uncontrollable, and could even be damaged, in such configurations. The computation of the connected components in the set of nonsingular reachable configurations, called generalized aspects, is therefore a key issue in their design.This paper introduces a new method, based on numerical constraint programming, to compute a certified enclosure of the generalized aspects. Though this method does not allow counting their number rigorously, it constructs inner approximations of the nonsingular workspace that allow commanding parallel robots safely. It also provides a lower-bound on the exact number of generalized aspects. It is moreover the first general method able to handle any parallel robot in theory, though its computational complexity currently restricts its usage to robots with three degrees of freedom. Finally, the constraint programming paradigm it relies on makes it possible to consider various additional constraints (e.g., collision avoidance), making it suitable for practical considerations.