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RESEARCH ON MOTION ANALYSIS SYSTEM FOR 3-DIMENSIONAL SPACE ROBOT USING PERSONAL COMPUTER NETWORK

基于个人计算机网络的三维空间机器人运动分析系统研究

基本信息

批准号：
13650260
负责人：
KOMATSU Tadashi
金额：
$ 1.66万
依托单位：
KANTO GAKUIN UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2001
资助国家：
日本
起止时间：
2001 至 2002
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650260/
关键词：
Robotics Space Robotics Manipulator Dynamics Simulator Network Linux Distributed Processing 柔軟マニピュレータ Linux 並列処理

项目摘要

In this research, we have studied a space robot simulator for three-dimensional motion using several personal computers connected by LAN. This simulator had same performance and realized to reduce its cost comparing conventional simulators using a UNIX machine. First of all, we developed non-recursive Lagrange equations with order N for three-dimensional flexible space robot, where N denotes the number of robot bodies. These equations play very important role in parallel computing system with personal computers, because they reduce calculation times of equations of motion. Moreover, non-recursive equations can be separated to an equation for each body. It means that each body's equation can be calculated by parallel processing at the same time. Next, we constructed parallel processing system. We considered a space robot system in an orbit, which consists of a space platform and a two-link manipulator. The number of bodies is three. We used one personal computer for the server and three computers for clients. One client calculates one body's equation. First of all, each client calculates non-linear terms and control torque in equations. These results are sent to the server. The server calculates each angular acceleration by multiplying an inverse mass matrix and sent them to each client. Then, angle and angular velocity of a robot are calculated. These are calculation sequence in one cycle. We confirmed that this simulator realized same calculation time and the accuracy comparing with conventional simulator using one UNIX machine. On the other hand, the price of the system became one fifth of the UNIX machine. We used Linux for OS.

在本研究中，我们研究了一个空间机器人模拟器的三维运动，使用多台个人计算机连接的局域网。该仿真器与传统的UNIX环境下的仿真器相比，具有相同的性能，并实现了成本的降低。首先，我们建立了三维柔性空间机器人的N阶非递归拉格朗日方程，其中N表示机器人的数目。这些方程在微机并行计算系统中起着非常重要的作用，因为它们减少了运动方程的计算时间。此外，非递归方程可以被分离为每个物体的方程。这意味着每个物体的方程可以通过并行处理同时计算。其次，我们构建了并行处理系统。本文研究了一个在轨运行的空间机器人系统，该系统由空间平台和双连杆机械臂组成。尸体的数量是三个。我们使用一台个人计算机作为服务器，三台计算机作为客户端。一个客户端计算一个机构的方程。首先，每个客户计算方程中的非线性项和控制扭矩。这些结果被发送到服务器。服务器通过乘以逆质量矩阵来计算每个角加速度，并将它们发送到每个客户端。然后，角度和角速度的机器人计算。这些是一个周期中的计算序列。与传统的单台UNIX计算机模拟器相比，该模拟器实现了相同的计算时间和精度。另一方面，该系统的价格变成了UNIX机器的五分之一。我们使用Linux作为操作系统。