A Novel Posture Positioning Method for Multi-Joint Manipulators
| Autor: | Dang Xie, Yijue Dai, Qingna Li, Ze-Hui Liu, Zhiqiang Yao |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
Signal Processing (eess.SP)
Multi joint Automatic control Plane (geometry) Machine vision Computer science 010401 analytical chemistry 01 natural sciences 0104 chemical sciences Computer Science::Robotics Control theory Optimization and Control (math.OC) FOS: Mathematics FOS: Electrical engineering electronic engineering information engineering Electrical and Electronic Engineering Manipulator Electrical Engineering and Systems Science - Signal Processing Instrumentation Wireless sensor network Mathematics - Optimization and Control |
| Popis: | Safety and automatic control are extremely important when operating manipulators. For large engineering manipulators, the main challenge is to accurately recognize the posture of all arm segments. In classical sensing methods, the accuracy of an inclinometer is easily affected by the elastic deformation in the manipulator's arms. This results in big error accumulations when sensing the angle of joints between arms one by one. In addition, the sensing method based on machine vision is not suitable for such kind of outdoor working situation yet. In this paper, we propose a novel posture positioning method for multi-joint manipulators based on wireless sensor network localization. The posture sensing problem is formulated as a Nearest-Euclidean-Distance-Matrix (NEDM) model. The resulting approach is referred to as EDM-based posture positioning approach (EPP) and it satisfies the following guiding principles: (i) The posture of each arm segment on a multi-joint manipulator must be estimated as accurately as possible; (ii) The approach must be computationally fast; (iii) The designed approach should not be susceptible to obstructions. To further improve accuracy, we explore the inherent structure of manipulators, i.e., fixed-arm length. This is naturally presented as linear constraints in the NEDM model. For concrete pumps, a typical multi-joint manipulator, the mechanical property that all arm segments always lie in a 2D plane is used for dimension-reduction operation. Simulation and experimental results show that the proposed method provides efficient solutions for posture sensing problem and can obtain preferable localization performance with faster speed than applying the existing localization methods. 7 pages, 8 figures |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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