Performance measures for constrained systems
Performance measures for constrained systems
复制标题
受限系统的性能测量
DOI：
10.1109/70.563649
复制
发表时间：
1997
期刊：
影响因子：
--
通讯作者：
D. Pai
中科院分区：
文献类型：
--
作者：
K. V. D. Doel;D. Pai
提出了一种适用于具有非完整约束系统的机器人操作手性能的几何理论。性能是由一个几何对象，诱导度量张量来量化的，标量可以通过不变张量运算来构造，以给出性能度量。这样定义的措施取决于配置和工作空间的度量结构，应该针对手头的问题适当地选择它们。这种方法的一般性使我们可以指定具有大类度量的关节连接刚体系统。我们描述了如何计算这种由关节连接的刚体系统的诱导度量，并描述了一个允许自动计算这种系统的性能度量的MatLab程序。我们用Sarcos灵巧的手臂和柏拉图野兽--一种多腿行走机器--的一些测量计算来说明这些想法。
We present a geometric theory of the performance of robot manipulators, applicable to systems with constraints, which may be nonholonomic. The performance is quantified by a geometrical object, the induced metric tensor, from which scalars may be constructed by invariant tensor operations to give performance measures. The measures thus defined depend on the metric structure of configuration and workspace, which should be chosen appropriately for the problem at hand. The generality of this approach allows us to specify a system of joint connected rigid bodies with a large class of metrics. We describe how the induced metric can be computed for such a system of joint connected rigid bodies and describe a MATLAB program that allows the automatic computation of the performance measures for such systems. We illustrate these ideas with some computations of measures for the SARCOS dextrous arm, and the Platonic Beast, a multilegged walking machine.
影响因子：
9.2
作者：
YOSHIKAWA, T
通讯作者：
YOSHIKAWA, T