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蛇形机器人本体是一种多关节串联机构,可以在各种环境中运动,并且当一端固定时可以实现操作.本文提出一种蛇形机器人移动与操作的统一动力学建模方法,统一蛇形机器人移动状态及操作状态的动力学方程.机器人从移动状态到操作状态的转换意味着机构上的重构,即移动状态无固定基座,而操作状态有固定基座.应用虚设机构法在机构学上统一这两种状态(即构形空间中的嵌入关系),利用指数积公式描述这两种状态的运动学方程.在Riemann流形上建立起蛇形机器人移动和操作的动力学模型,并在对动力学模型中各项计算分析的基础上发现机器人操作动力学方程可直接由移动动力学方程退化得到,同时应用子流形的Gauss公式给出证明.由此在微分几何框架下建立蛇形机器人移动与操作的统一动力学模型.按照几何的观点将蛇形机器人移动与操作动力学模型的统一看作是子流形问题,并赋予几何意义.较单独针对蛇形机器人的一种状态(移动或操作)的动力学模型而言,这种统一的动力学模型能够更深刻地揭示蛇形机器人动力学的特征.
The serpentine robot body is a multi-joint series mechanism that can move in various environments and can be operated when one end is fixed.This paper presents a unified dynamic modeling method for the movement and operation of a serpentine robot, Robot kinematics and movement of the state of the equation of motion from the mobile state to the operational state of the robot conversion means that the restructuring of the body, that is, the mobile state without a fixed base, while the operating state has a fixed base application of virtual body method in the institutions Learning the unification of these two states (that is, the embedded relationship in the configuration space), the exponential product formula is used to describe the kinematic equations of these two states.On the Riemann manifold, the dynamics model of the movement and operation of the serpentine robot is established, Based on the computational analysis of the dynamic model, it is found that the robot kinetic equation can be directly degenerated by the motion dynamics equation, and the Gauss formula is applied to prove the submanifold. Thus, the differential geometry framework is established A Unified Dynamics Model of Movement and Operation of Serpentine Robots The Unity of Movement and Operational Dynamics Model of Serpentine Robots According to Geometry As a submanifold problem, and given the geometric meaning, this unified dynamic model can reveal the power of the serpentine robot more profoundly than the kinetic model of a state (moving or operating) of a serpentine robot alone. Characteristics of learning.