5 research outputs found
ΠΡΠΎΠ³Π½ΠΎΠ·Π½Π°Ρ ΠΎΡΠ΅Π½ΠΊΠ° ΡΡΠ°Π΅ΠΊΡΠΎΡΠΈΠΈ ΡΡΠΊΠΈ ΠΎΠΏΠ΅ΡΠ°ΡΠΎΡΠ° Π΄Π»Ρ ΡΠ΅ΡΠ΅Π½ΠΈΡ ΠΎΠ±ΡΠ°ΡΠ½ΠΎΠΉ Π·Π°Π΄Π°ΡΠΈ Π΄ΠΈΠ½Π°ΠΌΠΈΠΊΠΈ ΠΏΡΠΈ ΠΊΠΎΠΏΠΈΡΡΡΡΠ΅ΠΌ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΠΈ
ΠΠ΄Π½ΠΎΠΉ ΠΈΠ· Π²Π°ΠΆΠ½Π΅ΠΉΡΠΈΡ
Π·Π°Π΄Π°Ρ ΡΠΎΠ²ΡΠ΅ΠΌΠ΅Π½Π½ΠΎΠΉ ΡΠΎΠ±ΠΎΡΠΎΡΠ΅Ρ
Π½ΠΈΠΊΠΈ ΡΠ²Π»ΡΠ΅ΡΡΡ ΡΠ°Π·ΡΠ°Π±ΠΎΡΠΊΠ° ΡΠΎΠ±ΠΎΡΠΎΠ² Π΄Π»Ρ Π²ΡΠΏΠΎΠ»Π½Π΅Π½ΠΈΡ ΡΡΡΠΈΠ½Π½ΡΡ
, Π²ΡΠ΅Π΄Π½ΡΡ
ΠΈ ΠΎΠΏΠ°ΡΠ½ΡΡ
Π²ΠΈΠ΄ΠΎΠ² ΡΠ°Π±ΠΎΡ Π±Π΅Π· Π½Π΅ΠΏΠΎΡΡΠ΅Π΄ΡΡΠ²Π΅Π½Π½ΠΎΠ³ΠΎ ΡΡΠ°ΡΡΠΈΡ ΡΠ΅Π»ΠΎΠ²Π΅ΠΊΠ°. ΠΠ΅ΡΠΌΠΎΡΡΡ Π½Π° Π°ΠΊΡΠΈΠ²Π½ΠΎΠ΅ ΡΠ°Π·Π²ΠΈΡΠΈΠ΅ ΡΠ΅Ρ
Π½ΠΎΠ»ΠΎΠ³ΠΈΠΉ ΠΈΡΠΊΡΡΡΡΠ²Π΅Π½Π½ΠΎΠ³ΠΎ ΠΈΠ½ΡΠ΅Π»Π»Π΅ΠΊΡΠ°, Π½Π° Π΄Π°Π½Π½ΡΠΉ ΠΌΠΎΠΌΠ΅Π½Ρ ΡΠΎΠ±ΠΎΡΠΎΡΠ΅Ρ
Π½ΠΈΡΠ΅ΡΠΊΠΈΠ΅ ΡΠΈΡΡΠ΅ΠΌΡ Π½Π΅ ΡΠΏΠΎΡΠΎΠ±Π½Ρ Π·Π°ΠΌΠ΅Π½ΠΈΡΡ ΡΠ΅Π»ΠΎΠ²Π΅ΠΊΠ° ΠΏΡΠΈ ΡΠ΅ΡΠ΅Π½ΠΈΠΈ ΡΠ»ΠΎΠΆΠ½ΡΡ
Π·Π°Π΄Π°Ρ Π² Π΄ΠΈΠ½Π°ΠΌΠΈΡΠ΅ΡΠΊΠΎΠΉ ΡΡΠ΅Π΄Π΅. ΠΠ°ΠΈΠ±ΠΎΠ»Π΅Π΅ ΠΏΠ΅ΡΡΠΏΠ΅ΠΊΡΠΈΠ²Π½ΡΠΌΠΈ Π΄Π»Ρ ΠΏΡΠΈΠΌΠ΅Π½Π΅Π½ΠΈΡ Π² Π±Π»ΠΈΠΆΠ°ΠΉΡΠ΅Π΅ Π²ΡΠ΅ΠΌΡ ΡΠ²Π»ΡΡΡΡΡ ΡΠΎΠ±ΠΎΡΡ, ΡΠ΅Π°Π»ΠΈΠ·ΡΡΡΠΈΠ΅ ΠΊΠΎΠΏΠΈΡΡΡΡΠΈΠΉ ΡΠΈΠΏ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ, ΠΈΠ»ΠΈ ΡΠ°ΠΊ Π½Π°Π·ΡΠ²Π°Π΅ΠΌΠΎΠ΅ Π²ΠΈΡΡΡΠ°Π»ΡΠ½ΠΎΠ΅ ΠΏΡΠΈΡΡΡΡΡΠ²ΠΈΠ΅ ΠΎΠΏΠ΅ΡΠ°ΡΠΎΡΠ°. ΠΡΠΈΠ½ΡΠΈΠΏ ΠΊΠΎΠΏΠΈΡΡΡΡΠ΅Π³ΠΎ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ ΠΏΠΎΡΡΡΠΎΠ΅Π½ Π½Π° Π·Π°Ρ
Π²Π°ΡΠ΅ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ ΡΠ΄Π°Π»Π΅Π½Π½ΠΎ Π½Π°Ρ
ΠΎΠ΄ΡΡΠ΅Π³ΠΎΡΡ ΠΎΠΏΠ΅ΡΠ°ΡΠΎΡΠ° ΠΈ ΡΠΎΡΠΌΠΈΡΠΎΠ²Π°Π½ΠΈΠΈ ΡΠΏΡΠ°Π²Π»ΡΡΡΠΈΡ
ΡΠΈΠ³Π½Π°Π»ΠΎΠ² Π΄Π»Ρ ΠΏΡΠΈΠ²ΠΎΠ΄ΠΎΠ² ΡΠΎΠ±ΠΎΡΠ°. ΠΠ»Ρ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ ΠΏΡΠΈΠ²ΠΎΠ΄Π°ΠΌΠΈ ΠΌΠΎΠ³ΡΡ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°ΡΡΡΡ ΡΠ»Π΅Π΄ΡΡΠΈΠ΅ ΡΠΈΡΡΠ΅ΠΌΡ ΠΈΠ»ΠΈ ΡΠΈΡΡΠ΅ΠΌΡ Π½Π° ΠΎΡΠ½ΠΎΠ²Π΅ ΠΏΠ»Π°Π½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ. Π‘Π»Π΅Π΄ΡΡΠΈΠ΅ ΡΠΈΡΡΠ΅ΠΌΡ Π±ΠΎΠ»Π΅Π΅ ΠΏΡΠΎΡΡΡ, ΠΎΠ΄Π½Π°ΠΊΠΎ ΡΠΈΡΡΠ΅ΠΌΡ Π½Π° ΠΎΡΠ½ΠΎΠ²Π΅ ΠΏΠ»Π°Π½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ ΠΏΠΎΠ·Π²ΠΎΠ»ΡΡΡ Π΄ΠΎΠ±ΠΈΡΡΡΡ Π±ΠΎΠ»ΡΡΠ΅ΠΉ ΠΏΠ»Π°Π²Π½ΠΎΡΡΠΈ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ ΠΈ ΠΌΠ΅Π½ΡΡΠ΅Π³ΠΎ ΠΈΠ·Π½ΠΎΡΠ° Π΄Π΅ΡΠ°Π»Π΅ΠΉ ΠΎΠ±ΡΠ΅ΠΊΡΠ° ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ. ΠΠ»Ρ ΡΠ΅Π°Π»ΠΈΠ·Π°ΡΠΈΠΈ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ Π½Π° ΠΎΡΠ½ΠΎΠ²Π΅ ΠΏΠ»Π°Π½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ Π²Π²ΠΎΠ΄ΠΈΡΡΡ ΠΈΡΠΊΡΡΡΡΠ²Π΅Π½Π½Π°Ρ Π·Π°Π΄Π΅ΡΠΆΠΊΠ° ΠΌΠ΅ΠΆΠ΄Ρ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡΠΌΠΈ ΠΎΠΏΠ΅ΡΠ°ΡΠΎΡΠ° ΠΈ ΠΎΠ±ΡΠ΅ΠΊΡΠ° ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ Π΄Π»Ρ Π½Π°ΠΊΠΎΠΏΠ»Π΅Π½ΠΈΡ Π½Π΅ΠΎΠ±Ρ
ΠΎΠ΄ΠΈΠΌΡΡ
Π΄Π°Π½Π½ΡΡ
.
Π¦Π΅Π»Ρ ΠΈΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½ΠΈΡ β ΡΡΡΡΠ°Π½Π΅Π½ΠΈΠ΅ Π·Π°Π΄Π΅ΡΠΆΠΊΠΈ, Π²ΠΎΠ·Π½ΠΈΠΊΠ°ΡΡΠ΅ΠΉ ΠΏΡΠΈ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΠΈ ΠΏΡΠΈΠ²ΠΎΠ΄Π°ΠΌΠΈ Π°Π½ΡΡΠΎΠΏΠΎΠΌΠΎΡΡΠ½ΠΎΠ³ΠΎ ΠΌΠ°Π½ΠΈΠΏΡΠ»ΡΡΠΎΡΠ° Π½Π° ΠΎΡΠ½ΠΎΠ²Π΅ ΡΠ΅ΡΠ΅Π½ΠΈΡ ΠΎΠ±ΡΠ°ΡΠ½ΠΎΠΉ Π·Π°Π΄Π°ΡΠΈ Π΄ΠΈΠ½Π°ΠΌΠΈΠΊΠΈ ΠΏΡΠΈ ΠΊΠΎΠΏΠΈΡΡΡΡΠ΅ΠΌ ΡΠΈΠΏΠ΅ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ Π² ΠΌΠ°ΡΡΡΠ°Π±Π΅ ΡΠ΅Π°Π»ΡΠ½ΠΎΠ³ΠΎ Π²ΡΠ΅ΠΌΠ΅Π½ΠΈ. ΠΡΠ΅Π΄Π»Π°Π³Π°Π΅ΡΡΡ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°ΡΡ Π΄Π»Ρ ΠΏΠ»Π°Π½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ Π½Π΅ ΠΈΠ·ΠΌΠ΅ΡΠ΅Π½Π½ΡΠ΅, Π° ΠΏΡΠΎΠ³Π½ΠΎΠ·Π½ΡΠ΅ Π·Π½Π°ΡΠ΅Π½ΠΈΡ ΠΎΠ±ΠΎΠ±ΡΠ΅Π½Π½ΡΡ
ΠΊΠΎΠΎΡΠ΄ΠΈΠ½Π°Ρ ΡΡΠΊΠΈ ΠΎΠΏΠ΅ΡΠ°ΡΠΎΡΠ°. ΠΠ° ΠΎΡΠ½ΠΎΠ²Π΅ ΠΈΠ·ΠΌΠ΅ΡΠ΅Π½Π½ΡΡ
Π·Π½Π°ΡΠ΅Π½ΠΈΠΉ ΠΎΠ±ΠΎΠ±ΡΠ΅Π½Π½ΡΡ
ΠΊΠΎΠΎΡΠ΄ΠΈΠ½Π°Ρ ΡΡΠΊΠΈ ΠΎΠΏΠ΅ΡΠ°ΡΠΎΡΠ° ΡΠΎΡΠΌΠΈΡΡΡΡΡΡ Π²ΡΠ΅ΠΌΠ΅Π½Π½ΡΠ΅ ΡΡΠ΄Ρ ΠΈ Π²ΡΠΏΠΎΠ»Π½ΡΠ΅ΡΡΡ ΠΈΡ
ΠΏΡΠΎΠ³Π½ΠΎΠ·ΠΈΡΠΎΠ²Π°Π½ΠΈΠ΅. ΠΡΠΎΠ³Π½ΠΎΠ·Π½ΡΠ΅ Π·Π½Π°ΡΠ΅Π½ΠΈΡ ΠΎΠ±ΠΎΠ±ΡΠ΅Π½Π½ΡΡ
ΠΊΠΎΠΎΡΠ΄ΠΈΠ½Π°Ρ ΠΈΡΠΏΠΎΠ»ΡΠ·ΡΡΡΡΡ ΠΏΡΠΈ ΠΏΠ»Π°Π½ΠΈΡΠΎΠ²Π°Π½ΠΈΠΈ ΡΡΠ°Π΅ΠΊΡΠΎΡΠΈΠΈ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ Π°Π½ΡΡΠΎΠΏΠΎΠΌΠΎΡΡΠ½ΠΎΠ³ΠΎ ΠΌΠ°Π½ΠΈΠΏΡΠ»ΡΡΠΎΡΠ° ΠΈ ΡΠ΅ΡΠ΅Π½ΠΈΠΈ ΠΎΠ±ΡΠ°ΡΠ½ΠΎΠΉ Π·Π°Π΄Π°ΡΠΈ Π΄ΠΈΠ½Π°ΠΌΠΈΠΊΠΈ. ΠΡΠΎΠ³Π½ΠΎΠ·ΠΈΡΠΎΠ²Π°Π½ΠΈΠ΅ ΠΎΡΡΡΠ΅ΡΡΠ²Π»ΡΠ΅ΡΡΡ ΠΌΠ΅ΡΠΎΠ΄ΠΎΠΌ Π»ΠΈΠ½Π΅ΠΉΠ½ΠΎΠΉ ΡΠ΅Π³ΡΠ΅ΡΡΠΈΠΈ, ΠΈΠΌΠ΅ΡΡΠΈΠΌ ΠΎΡΠ½ΠΎΡΠΈΡΠ΅Π»ΡΠ½ΠΎ ΠΌΠ°Π»ΡΡ Π²ΡΡΠΈΡΠ»ΠΈΡΠ΅Π»ΡΠ½ΡΡ ΡΠ»ΠΎΠΆΠ½ΠΎΡΡΡ, ΡΡΠΎ ΡΠ²Π»ΡΠ΅ΡΡΡ Π²Π°ΠΆΠ½ΡΠΌ ΠΊΡΠΈΡΠ΅ΡΠΈΠ΅ΠΌ Π΄Π»Ρ ΡΠ°Π±ΠΎΡΡ ΡΠΈΡΡΠ΅ΠΌΡ Π² ΠΌΠ°ΡΡΡΠ°Π±Π΅ ΡΠ΅Π°Π»ΡΠ½ΠΎΠ³ΠΎ Π²ΡΠ΅ΠΌΠ΅Π½ΠΈ.
Π Π°Π·ΡΠ°Π±ΠΎΡΠ°Π½Π½ΡΠΉ ΠΌΠ°ΡΠ΅ΠΌΠ°ΡΠΈΡΠ΅ΡΠΊΠΈΠΉ Π°ΠΏΠΏΠ°ΡΠ°Ρ ΠΏΠΎΠ·Π²ΠΎΠ»ΡΠ΅Ρ Π½Π° ΠΎΡΠ½ΠΎΠ²Π΅ ΠΏΠ°ΡΠ°ΠΌΠ΅ΡΡΠΎΠ² ΠΏΡΠΎΠ³Π½ΠΎΠ·ΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΠΈ ΠΌΠ°ΠΊΡΠΈΠΌΠ°Π»ΡΠ½ΡΡ
Π΄ΠΎΠΏΡΡΡΠΈΠΌΡΡ
ΡΡΠΊΠΎΡΠ΅Π½ΠΈΠΉ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ ΠΏΡΠΈΠ²ΠΎΠ΄ΠΎΠ² ΠΌΠ°Π½ΠΈΠΏΡΠ»ΡΡΠΎΡΠ° Π½Π°ΠΉΡΠΈ ΡΠ΅ΠΎΡΠ΅ΡΠΈΡΠ΅ΡΠΊΡΡ ΠΎΡΠ΅Π½ΠΊΡ ΠΏΡΠ΅Π΄Π΅Π»ΠΎΠ² Π·Π½Π°ΡΠ΅Π½ΠΈΠΉ ΠΎΡΠΈΠ±ΠΊΠΈ ΠΏΡΠΎΠ³Π½ΠΎΠ·ΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΡΡΠ°Π΅ΠΊΡΠΎΡΠΈΠΈ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ ΡΡΠΊΠΈ ΠΎΠΏΠ΅ΡΠ°ΡΠΎΡΠ° ΠΏΡΠΈ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΠΈ ΠΏΡΠ΅Π΄Π»Π°Π³Π°Π΅ΠΌΠΎΠ³ΠΎ ΠΏΠΎΠ΄Ρ
ΠΎΠ΄Π° Π΄Π»Ρ ΠΊΠΎΠ½ΠΊΡΠ΅ΡΠ½ΡΡ
Π·Π°Π΄Π°Ρ.
ΠΡΠΎΠ²Π΅Π΄Π΅Π½Π½Π°Ρ ΠΏΡΠΎΠ³ΡΠ°ΠΌΠΌΠ½Π°Ρ ΡΠΈΠΌΡΠ»ΡΡΠΈΡ Π² ΡΡΠ΅Π΄Π΅ Matlab ΠΏΠΎΠ΄ΡΠ²Π΅ΡΠ΄ΠΈΠ»Π° Π°Π΄Π΅ΠΊΠ²Π°ΡΠ½ΠΎΡΡΡ ΠΏΠΎΠ»ΡΡΠ΅Π½Π½ΠΎΠΉ ΡΠ΅ΠΎΡΠ΅ΡΠΈΡΠ΅ΡΠΊΠΎΠΉ ΠΎΡΠ΅Π½ΠΊΠΈ ΠΌΠ°ΠΊΡΠΈΠΌΠ°Π»ΡΠ½ΠΎΠ³ΠΎ Π·Π½Π°ΡΠ΅Π½ΠΈΡ ΠΎΡΠΈΠ±ΠΊΠΈ ΠΏΡΠΎΠ³Π½ΠΎΠ·ΠΈΡΠΎΠ²Π°Π½ΠΈΡ, Π° ΡΠ°ΠΊΠΆΠ΅ ΠΏΠ΅ΡΡΠΏΠ΅ΠΊΡΠΈΠ²Π½ΠΎΡΡΡ ΠΏΡΠ΅Π΄Π»Π°Π³Π°Π΅ΠΌΠΎΠ³ΠΎ ΠΏΠΎΠ΄Ρ
ΠΎΠ΄Π° Π΄Π»Ρ ΠΏΡΠΎΠ²Π΅ΡΠΊΠΈ Π½Π° ΠΏΡΠ°ΠΊΡΠΈΠΊΠ΅
ΠΡΠΎΠ³Π½ΠΎΠ·Π½Π°Ρ ΠΎΡΠ΅Π½ΠΊΠ° ΡΡΠ°Π΅ΠΊΡΠΎΡΠΈΠΈ ΡΡΠΊΠΈ ΠΎΠΏΠ΅ΡΠ°ΡΠΎΡΠ° Π΄Π»Ρ ΡΠ΅ΡΠ΅Π½ΠΈΡ ΠΎΠ±ΡΠ°ΡΠ½ΠΎΠΉ Π·Π°Π΄Π°ΡΠΈ Π΄ΠΈΠ½Π°ΠΌΠΈΠΊΠΈ ΠΏΡΠΈ ΠΊΠΎΠΏΠΈΡΡΡΡΠ΅ΠΌ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΠΈ
The most important task of modern robotics is the development of robots to perform the work in potentially dangerous fields which can cause the risk to human health. Currently robotic systems can not become a full replacement for man for solving complex problems in a dynamic environment despite an active development of artificial intelligence technologies.
The robots that implement the copying type of control or the so-called virtual presence of the operator are the most advanced for use in the nearest future. The principle of copying control is based on the motion capture of the remote operator and the formation of control signals for the robotβs drives. A tracking system or systems based on movement planning can be used to control the drives. The tracking systems are simpler, but systems based on motion planning allow to achieve more smooth motion and less wear on the parts of the control object. An artificial delay between the movements of the operator and the control object for necessary data collection is used to implement the control-based motion planning.
The aim of research is a reduction of delay, which appears when controlling the anthropomorphic manipulator drives based on the solution of the inverse dynamic problem, when real time copying type of control is used . For motion path planning it is proposed to use forecast values of the generalized coordinates for manipulator. Based on the measured values of the generalized coordinates of the operator's hand, time series are formed and their prediction is performed. Predictive values of generalized coordinates are used in planning the anthropomorphic manipulator trajectory and solving the inverse dynamic problem. Prediction is based on linear regression with relatively low computational complexity, which is an important criterion for the system operation in the real time operation mode. The developed mathematical apparatus, based on prediction parameters and maximum permissible accelerations of the manipulator drives, allows to find a theoretical estimate of error values limits for planning the operator's hand trajectory using the proposed approach for specific tasks. The adequacy of the maximum theoretical value of the prediction error, as well as the prospects of the proposed approach for testing in practice is confirmed by the software simulation in Matlab environment.ΠΠ΄Π½ΠΎΠΉ ΠΈΠ· Π²Π°ΠΆΠ½Π΅ΠΉΡΠΈΡ
Π·Π°Π΄Π°Ρ ΡΠΎΠ²ΡΠ΅ΠΌΠ΅Π½Π½ΠΎΠΉ ΡΠΎΠ±ΠΎΡΠΎΡΠ΅Ρ
Π½ΠΈΠΊΠΈ ΡΠ²Π»ΡΠ΅ΡΡΡ ΡΠ°Π·ΡΠ°Π±ΠΎΡΠΊΠ° ΡΠΎΠ±ΠΎΡΠΎΠ² Π΄Π»Ρ Π²ΡΠΏΠΎΠ»Π½Π΅Π½ΠΈΡ ΡΡΡΠΈΠ½Π½ΡΡ
, Π²ΡΠ΅Π΄Π½ΡΡ
ΠΈ ΠΎΠΏΠ°ΡΠ½ΡΡ
Π²ΠΈΠ΄ΠΎΠ² ΡΠ°Π±ΠΎΡ Π±Π΅Π· Π½Π΅ΠΏΠΎΡΡΠ΅Π΄ΡΡΠ²Π΅Π½Π½ΠΎΠ³ΠΎ ΡΡΠ°ΡΡΠΈΡ ΡΠ΅Π»ΠΎΠ²Π΅ΠΊΠ°. ΠΠ΅ΡΠΌΠΎΡΡΡ Π½Π° Π°ΠΊΡΠΈΠ²Π½ΠΎΠ΅ ΡΠ°Π·Π²ΠΈΡΠΈΠ΅ ΡΠ΅Ρ
Π½ΠΎΠ»ΠΎΠ³ΠΈΠΉ ΠΈΡΠΊΡΡΡΡΠ²Π΅Π½Π½ΠΎΠ³ΠΎ ΠΈΠ½ΡΠ΅Π»Π»Π΅ΠΊΡΠ°, Π½Π° Π΄Π°Π½Π½ΡΠΉ ΠΌΠΎΠΌΠ΅Π½Ρ ΡΠΎΠ±ΠΎΡΠΎΡΠ΅Ρ
Π½ΠΈΡΠ΅ΡΠΊΠΈΠ΅ ΡΠΈΡΡΠ΅ΠΌΡ Π½Π΅ ΡΠΏΠΎΡΠΎΠ±Π½Ρ Π·Π°ΠΌΠ΅Π½ΠΈΡΡ ΡΠ΅Π»ΠΎΠ²Π΅ΠΊΠ° ΠΏΡΠΈ ΡΠ΅ΡΠ΅Π½ΠΈΠΈ ΡΠ»ΠΎΠΆΠ½ΡΡ
Π·Π°Π΄Π°Ρ Π² Π΄ΠΈΠ½Π°ΠΌΠΈΡΠ΅ΡΠΊΠΎΠΉ ΡΡΠ΅Π΄Π΅. ΠΠ°ΠΈΠ±ΠΎΠ»Π΅Π΅ ΠΏΠ΅ΡΡΠΏΠ΅ΠΊΡΠΈΠ²Π½ΡΠΌΠΈ Π΄Π»Ρ ΠΏΡΠΈΠΌΠ΅Π½Π΅Π½ΠΈΡ Π² Π±Π»ΠΈΠΆΠ°ΠΉΡΠ΅Π΅ Π²ΡΠ΅ΠΌΡ ΡΠ²Π»ΡΡΡΡΡ ΡΠΎΠ±ΠΎΡΡ, ΡΠ΅Π°Π»ΠΈΠ·ΡΡΡΠΈΠ΅ ΠΊΠΎΠΏΠΈΡΡΡΡΠΈΠΉ ΡΠΈΠΏ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ, ΠΈΠ»ΠΈ ΡΠ°ΠΊ Π½Π°Π·ΡΠ²Π°Π΅ΠΌΠΎΠ΅ Π²ΠΈΡΡΡΠ°Π»ΡΠ½ΠΎΠ΅ ΠΏΡΠΈΡΡΡΡΡΠ²ΠΈΠ΅ ΠΎΠΏΠ΅ΡΠ°ΡΠΎΡΠ°. ΠΡΠΈΠ½ΡΠΈΠΏ ΠΊΠΎΠΏΠΈΡΡΡΡΠ΅Π³ΠΎ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ ΠΏΠΎΡΡΡΠΎΠ΅Π½ Π½Π° Π·Π°Ρ
Π²Π°ΡΠ΅ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ ΡΠ΄Π°Π»Π΅Π½Π½ΠΎ Π½Π°Ρ
ΠΎΠ΄ΡΡΠ΅Π³ΠΎΡΡ ΠΎΠΏΠ΅ΡΠ°ΡΠΎΡΠ° ΠΈ ΡΠΎΡΠΌΠΈΡΠΎΠ²Π°Π½ΠΈΠΈ ΡΠΏΡΠ°Π²Π»ΡΡΡΠΈΡ
ΡΠΈΠ³Π½Π°Π»ΠΎΠ² Π΄Π»Ρ ΠΏΡΠΈΠ²ΠΎΠ΄ΠΎΠ² ΡΠΎΠ±ΠΎΡΠ°. ΠΠ»Ρ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ ΠΏΡΠΈΠ²ΠΎΠ΄Π°ΠΌΠΈ ΠΌΠΎΠ³ΡΡ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°ΡΡΡΡ ΡΠ»Π΅Π΄ΡΡΠΈΠ΅ ΡΠΈΡΡΠ΅ΠΌΡ ΠΈΠ»ΠΈ ΡΠΈΡΡΠ΅ΠΌΡ Π½Π° ΠΎΡΠ½ΠΎΠ²Π΅ ΠΏΠ»Π°Π½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ. Π‘Π»Π΅Π΄ΡΡΠΈΠ΅ ΡΠΈΡΡΠ΅ΠΌΡ Π±ΠΎΠ»Π΅Π΅ ΠΏΡΠΎΡΡΡ, ΠΎΠ΄Π½Π°ΠΊΠΎ ΡΠΈΡΡΠ΅ΠΌΡ Π½Π° ΠΎΡΠ½ΠΎΠ²Π΅ ΠΏΠ»Π°Π½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ ΠΏΠΎΠ·Π²ΠΎΠ»ΡΡΡ Π΄ΠΎΠ±ΠΈΡΡΡΡ Π±ΠΎΠ»ΡΡΠ΅ΠΉ ΠΏΠ»Π°Π²Π½ΠΎΡΡΠΈ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ ΠΈ ΠΌΠ΅Π½ΡΡΠ΅Π³ΠΎ ΠΈΠ·Π½ΠΎΡΠ° Π΄Π΅ΡΠ°Π»Π΅ΠΉ ΠΎΠ±ΡΠ΅ΠΊΡΠ° ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ. ΠΠ»Ρ ΡΠ΅Π°Π»ΠΈΠ·Π°ΡΠΈΠΈ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ Π½Π° ΠΎΡΠ½ΠΎΠ²Π΅ ΠΏΠ»Π°Π½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ Π²Π²ΠΎΠ΄ΠΈΡΡΡ ΠΈΡΠΊΡΡΡΡΠ²Π΅Π½Π½Π°Ρ Π·Π°Π΄Π΅ΡΠΆΠΊΠ° ΠΌΠ΅ΠΆΠ΄Ρ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡΠΌΠΈ ΠΎΠΏΠ΅ΡΠ°ΡΠΎΡΠ° ΠΈ ΠΎΠ±ΡΠ΅ΠΊΡΠ° ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ Π΄Π»Ρ Π½Π°ΠΊΠΎΠΏΠ»Π΅Π½ΠΈΡ Π½Π΅ΠΎΠ±Ρ
ΠΎΠ΄ΠΈΠΌΡΡ
Π΄Π°Π½Π½ΡΡ
.
Π¦Π΅Π»Ρ ΠΈΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½ΠΈΡ β ΡΡΡΡΠ°Π½Π΅Π½ΠΈΠ΅ Π·Π°Π΄Π΅ΡΠΆΠΊΠΈ, Π²ΠΎΠ·Π½ΠΈΠΊΠ°ΡΡΠ΅ΠΉ ΠΏΡΠΈ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΠΈ ΠΏΡΠΈΠ²ΠΎΠ΄Π°ΠΌΠΈ Π°Π½ΡΡΠΎΠΏΠΎΠΌΠΎΡΡΠ½ΠΎΠ³ΠΎ ΠΌΠ°Π½ΠΈΠΏΡΠ»ΡΡΠΎΡΠ° Π½Π° ΠΎΡΠ½ΠΎΠ²Π΅ ΡΠ΅ΡΠ΅Π½ΠΈΡ ΠΎΠ±ΡΠ°ΡΠ½ΠΎΠΉ Π·Π°Π΄Π°ΡΠΈ Π΄ΠΈΠ½Π°ΠΌΠΈΠΊΠΈ ΠΏΡΠΈ ΠΊΠΎΠΏΠΈΡΡΡΡΠ΅ΠΌ ΡΠΈΠΏΠ΅ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ Π² ΠΌΠ°ΡΡΡΠ°Π±Π΅ ΡΠ΅Π°Π»ΡΠ½ΠΎΠ³ΠΎ Π²ΡΠ΅ΠΌΠ΅Π½ΠΈ. ΠΡΠ΅Π΄Π»Π°Π³Π°Π΅ΡΡΡ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°ΡΡ Π΄Π»Ρ ΠΏΠ»Π°Π½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ Π½Π΅ ΠΈΠ·ΠΌΠ΅ΡΠ΅Π½Π½ΡΠ΅, Π° ΠΏΡΠΎΠ³Π½ΠΎΠ·Π½ΡΠ΅ Π·Π½Π°ΡΠ΅Π½ΠΈΡ ΠΎΠ±ΠΎΠ±ΡΠ΅Π½Π½ΡΡ
ΠΊΠΎΠΎΡΠ΄ΠΈΠ½Π°Ρ ΡΡΠΊΠΈ ΠΎΠΏΠ΅ΡΠ°ΡΠΎΡΠ°. ΠΠ° ΠΎΡΠ½ΠΎΠ²Π΅ ΠΈΠ·ΠΌΠ΅ΡΠ΅Π½Π½ΡΡ
Π·Π½Π°ΡΠ΅Π½ΠΈΠΉ ΠΎΠ±ΠΎΠ±ΡΠ΅Π½Π½ΡΡ
ΠΊΠΎΠΎΡΠ΄ΠΈΠ½Π°Ρ ΡΡΠΊΠΈ ΠΎΠΏΠ΅ΡΠ°ΡΠΎΡΠ° ΡΠΎΡΠΌΠΈΡΡΡΡΡΡ Π²ΡΠ΅ΠΌΠ΅Π½Π½ΡΠ΅ ΡΡΠ΄Ρ ΠΈ Π²ΡΠΏΠΎΠ»Π½ΡΠ΅ΡΡΡ ΠΈΡ
ΠΏΡΠΎΠ³Π½ΠΎΠ·ΠΈΡΠΎΠ²Π°Π½ΠΈΠ΅. ΠΡΠΎΠ³Π½ΠΎΠ·Π½ΡΠ΅ Π·Π½Π°ΡΠ΅Π½ΠΈΡ ΠΎΠ±ΠΎΠ±ΡΠ΅Π½Π½ΡΡ
ΠΊΠΎΠΎΡΠ΄ΠΈΠ½Π°Ρ ΠΈΡΠΏΠΎΠ»ΡΠ·ΡΡΡΡΡ ΠΏΡΠΈ ΠΏΠ»Π°Π½ΠΈΡΠΎΠ²Π°Π½ΠΈΠΈ ΡΡΠ°Π΅ΠΊΡΠΎΡΠΈΠΈ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ Π°Π½ΡΡΠΎΠΏΠΎΠΌΠΎΡΡΠ½ΠΎΠ³ΠΎ ΠΌΠ°Π½ΠΈΠΏΡΠ»ΡΡΠΎΡΠ° ΠΈ ΡΠ΅ΡΠ΅Π½ΠΈΠΈ ΠΎΠ±ΡΠ°ΡΠ½ΠΎΠΉ Π·Π°Π΄Π°ΡΠΈ Π΄ΠΈΠ½Π°ΠΌΠΈΠΊΠΈ. ΠΡΠΎΠ³Π½ΠΎΠ·ΠΈΡΠΎΠ²Π°Π½ΠΈΠ΅ ΠΎΡΡΡΠ΅ΡΡΠ²Π»ΡΠ΅ΡΡΡ ΠΌΠ΅ΡΠΎΠ΄ΠΎΠΌ Π»ΠΈΠ½Π΅ΠΉΠ½ΠΎΠΉ ΡΠ΅Π³ΡΠ΅ΡΡΠΈΠΈ, ΠΈΠΌΠ΅ΡΡΠΈΠΌ ΠΎΡΠ½ΠΎΡΠΈΡΠ΅Π»ΡΠ½ΠΎ ΠΌΠ°Π»ΡΡ Π²ΡΡΠΈΡΠ»ΠΈΡΠ΅Π»ΡΠ½ΡΡ ΡΠ»ΠΎΠΆΠ½ΠΎΡΡΡ, ΡΡΠΎ ΡΠ²Π»ΡΠ΅ΡΡΡ Π²Π°ΠΆΠ½ΡΠΌ ΠΊΡΠΈΡΠ΅ΡΠΈΠ΅ΠΌ Π΄Π»Ρ ΡΠ°Π±ΠΎΡΡ ΡΠΈΡΡΠ΅ΠΌΡ Π² ΠΌΠ°ΡΡΡΠ°Π±Π΅ ΡΠ΅Π°Π»ΡΠ½ΠΎΠ³ΠΎ Π²ΡΠ΅ΠΌΠ΅Π½ΠΈ.
Π Π°Π·ΡΠ°Π±ΠΎΡΠ°Π½Π½ΡΠΉ ΠΌΠ°ΡΠ΅ΠΌΠ°ΡΠΈΡΠ΅ΡΠΊΠΈΠΉ Π°ΠΏΠΏΠ°ΡΠ°Ρ ΠΏΠΎΠ·Π²ΠΎΠ»ΡΠ΅Ρ Π½Π° ΠΎΡΠ½ΠΎΠ²Π΅ ΠΏΠ°ΡΠ°ΠΌΠ΅ΡΡΠΎΠ² ΠΏΡΠΎΠ³Π½ΠΎΠ·ΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΠΈ ΠΌΠ°ΠΊΡΠΈΠΌΠ°Π»ΡΠ½ΡΡ
Π΄ΠΎΠΏΡΡΡΠΈΠΌΡΡ
ΡΡΠΊΠΎΡΠ΅Π½ΠΈΠΉ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ ΠΏΡΠΈΠ²ΠΎΠ΄ΠΎΠ² ΠΌΠ°Π½ΠΈΠΏΡΠ»ΡΡΠΎΡΠ° Π½Π°ΠΉΡΠΈ ΡΠ΅ΠΎΡΠ΅ΡΠΈΡΠ΅ΡΠΊΡΡ ΠΎΡΠ΅Π½ΠΊΡ ΠΏΡΠ΅Π΄Π΅Π»ΠΎΠ² Π·Π½Π°ΡΠ΅Π½ΠΈΠΉ ΠΎΡΠΈΠ±ΠΊΠΈ ΠΏΡΠΎΠ³Π½ΠΎΠ·ΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΡΡΠ°Π΅ΠΊΡΠΎΡΠΈΠΈ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ ΡΡΠΊΠΈ ΠΎΠΏΠ΅ΡΠ°ΡΠΎΡΠ° ΠΏΡΠΈ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΠΈ ΠΏΡΠ΅Π΄Π»Π°Π³Π°Π΅ΠΌΠΎΠ³ΠΎ ΠΏΠΎΠ΄Ρ
ΠΎΠ΄Π° Π΄Π»Ρ ΠΊΠΎΠ½ΠΊΡΠ΅ΡΠ½ΡΡ
Π·Π°Π΄Π°Ρ.
ΠΡΠΎΠ²Π΅Π΄Π΅Π½Π½Π°Ρ ΠΏΡΠΎΠ³ΡΠ°ΠΌΠΌΠ½Π°Ρ ΡΠΈΠΌΡΠ»ΡΡΠΈΡ Π² ΡΡΠ΅Π΄Π΅ Matlab ΠΏΠΎΠ΄ΡΠ²Π΅ΡΠ΄ΠΈΠ»Π° Π°Π΄Π΅ΠΊΠ²Π°ΡΠ½ΠΎΡΡΡ ΠΏΠΎΠ»ΡΡΠ΅Π½Π½ΠΎΠΉ ΡΠ΅ΠΎΡΠ΅ΡΠΈΡΠ΅ΡΠΊΠΎΠΉ ΠΎΡΠ΅Π½ΠΊΠΈ ΠΌΠ°ΠΊΡΠΈΠΌΠ°Π»ΡΠ½ΠΎΠ³ΠΎ Π·Π½Π°ΡΠ΅Π½ΠΈΡ ΠΎΡΠΈΠ±ΠΊΠΈ ΠΏΡΠΎΠ³Π½ΠΎΠ·ΠΈΡΠΎΠ²Π°Π½ΠΈΡ, Π° ΡΠ°ΠΊΠΆΠ΅ ΠΏΠ΅ΡΡΠΏΠ΅ΠΊΡΠΈΠ²Π½ΠΎΡΡΡ ΠΏΡΠ΅Π΄Π»Π°Π³Π°Π΅ΠΌΠΎΠ³ΠΎ ΠΏΠΎΠ΄Ρ
ΠΎΠ΄Π° Π΄Π»Ρ ΠΏΡΠΎΠ²Π΅ΡΠΊΠΈ Π½Π° ΠΏΡΠ°ΠΊΡΠΈΠΊΠ΅
Training Gaussian Process Regression Models Using Optimized Trajectories
Quadrotor helicopters and robot manipulators are used widely for both research and industrial applications. Both quadrotors and manipulators are difficult to model. Quadrotors have complex dynamic models, especially at high speeds. Obtaining an accurate model of manipulator dynamics is often difficult, due to inaccurate values for link parameters and dynamics such as friction which are difficult to model accurately.
Supervised learning methods such as Gaussian Process Regression (GPR) have been used to learn the inverse dynamics of a system. These methods can estimate a dynamic model from experimental data without requiring the structure of the model to be known, and can be used online to update the model if the system changes over time.
This approach has been used to learn the inverse dynamics of a manipulator, but has not yet been applied to quadrotors. In addition, collecting training data for supervised learning can be difficult and time consuming, and poor or inadequate training data may result in an inaccurate model. Another problem frequently encountered when using GPR to learn the model of a system is the large computational cost of using GPR. A number of sparse approximations of GPR exist to deal with this issue, but it is not clear which sparse approximation results in the best performance, particularly when training data is being added incrementally.
This thesis proposes a method for systematically collecting training data for a GPR model. The trajectory used to collect training data is parameterized, and the parameters are optimized to maximize the GPR variance over the trajectory. This approach is tested both in simulation and experimentally for a quadrotor, and in experiments on a 4-DOF manipulator. Optimizing the training trajectories is shown to reduce the amount of training data required to learn the model of a system.
The thesis also compares three sparse approximations of GPR: the dictionary approach, Sparse Spectrum GPR (SSGP) and simple downsampling of the training data to reduce the size of the training data set. Using a dictionary is found to provide the best performance, even when the dictionary contains a very small subset of the available data.
Finally, all GPR models have hyperparameters, which have a significant impact on the prediction made by the GP model. Training these hyperparameters is important for getting accurate predictions. This thesis evaluates different methods of hyperparameter training on a 4-DOF manipulator to determine the most effective method of training the hyperparameters. For SSGP, the best hyperparameter training strategy is to reinitialize and train the hyperparameters after each trajectory. SSGP is also observed to be highly sensitive to the number of iterations of gradient descent used in hyperparameter training; too many iterations of gradient descent leads to overfitting and poor predictions. When using a dictionary, the best hyperparameter training method is to retrain the hyperparameters after each trajectory, using the previous hyperparameters as the initial starting point
Path Following for Robot Manipulators Using Gyroscopic Forces
This thesis deals with the path following problem the objective of which is to make the end
effector of a robot manipulator trace a desired path while maintaining a desired orientation.
The fact that the pose of the end effector is described in the task space while the control
inputs are in the joint space presents difficulties to the movement coordination. Typically,
one needs to perform inverse kinematics in path planning and inverse dynamics in movement
execution. However, the former can be ill-posed in the presence of redundancy and
singularities, and the latter relies on accurate models of the manipulator system which are
often difficult to obtain.
This thesis presents an alternative control scheme that is directly formulated in the
task space and is free of inverse transformations. As a result, it is especially suitable
for operations in a dynamic environment that may require online adjustment of the task
objective. The proposed strategy uses the transpose Jacobian control (or potential energy
shaping) as the base controller to ensure the convergence of the end effector pose, and
adds a gyroscopic force to steer the motion. Gyroscopic forces are a special type of force
that does not change the mechanical energy of the system, so its addition to the base
controller does not affect the stability of the controlled mechanical system. In this thesis,
we emphasize the fact that the gyroscopic force can be effectively used to control the pose
of the end effector during motion. We start with the case where only the position of
the end effector is of interest, and extend the technique to the control over both position
and orientation. Simulation and experimental results using planar manipulators as well as
anthropomorphic arms are presented to verify the effectiveness of the proposed controller