可迅速布置的機(jī)械手系統(tǒng)畢業(yè)外文翻譯、外文文獻(xiàn)翻譯、中英文翻譯

1、<p>　　A Rapidly Deployable Manipulator System</p><p>　　Christiaan J.J. Paredis, H. Benjamin Brown, Pradeep K. Khosla</p><p>　　Abstract: </p><p>　　A rapidly deployable manipul

2、ator system combines the flexibility of reconfigurable modular hardware with modular programming tools, allowing the user to rapidly create a manipulator which is custom-tailored for a given task. This article describes

3、two main aspects of such a system, namely, the Reconfigurable Modular Manipulator System (RMMS)hardware and the corresponding control software.</p><p>　　1 Introduction</p><p>　　Robot manipulator

4、s can be easily reprogrammed to perform different tasks, yet the range of tasks that can be performed by a manipulator is limited by mechanicalstructure.Forexample, a manipulator well-suited for precise movement across t

5、he top of a table would probably no be capable of lifting heavy objects in the vertical direction. Therefore, to perform a given task,one needs to choose a manipulator with an appropriate mechanical structure. </p>

6、<p>　　We propose the concept of a rapidly deployable manipulator system to address the above mentioned shortcomings of fixed configuration manipulators. As is illustrated in Figure 1, a rapidly deployable manipula

7、tor system consists of software and hardware that allow the user to rapidly build and program a manipulator which is customtailored for a given task. </p><p>　　The central building block of a rapidly deploy

8、able system is a Reconfigurable Modular Manipulator System (RMMS). The RMMS utilizes a stock of interchangeable link and joint modules of various sizes and performance specifications. One such module is shown in Figure 2

9、. By combining these general purpose modules, a wide range of special purpose manipulators can be assembled. Recently, there has been considerable interest in the idea of modular manipulators [2, 4, 5, 7, 9, 10, 14], for

10、 research appl</p><p>　　Effective use of the RMMS requires, Task Based Design software. This software takes as input descriptions of the task and of the available manipulator modules; it generates as output

11、a modular assembly configuration optimally suited to perform the given task. Several different approaches have been used successfully to solve simpli-fied instances of this complicated problem.</p><p>　　A th

12、ird important building block of a rapidly deployable manipulator system is a framework for the generation of control software. To reduce the complexity of softwaregeneration for real-time sensor-based control systems, a

13、software paradigm called software assembly has been proposed in the Advanced Manipulators Laboratory at CMU.This paradigm combines the concept of reusable and reconfigurable software components, as is supported by the Ch

14、imera real-time operating system [15], with a graphical </p><p>　　Although the software assembly paradigm provides thesoftware infrastructure for rapidly programming manipulator systems, it does not solve th

15、e programming problem itself. Explicit programming of sensor-based manipulator systems is cumbersome due to the extensive amount of detail which must be specified for the robot to perform the task. The software synthesis

16、 problem for sensor-based robots can be simplified dramatically, by providing robust robotic skills, that is, encapsulated strategies for a</p><p>　　As an example of the use of a rapidly deployable system,co

17、nsider a manipulator in a nuclear environment where it must inspect material and space for radioactive contamination, or assemble and repair equipment. In such an environment, widely varied kinematic (e.g., workspace) an

18、d dynamic (e.g., speed, payload) performance is required, and these requirements may not be known a priori. Instead of preparing a large set of different manipulators to accomplish these tasks—an expensive solution—one c

19、an</p><p>　　Although such a scenario is still futuristic, the development of the reconfigurable modular manipulator system, described in this paper, is a major step forward towards our goal of a rapidly depl

20、oyable manipulator system.</p><p>　　Our approach could form the basis for the next generation of autonomous manipulators, in which the traditional notion of sensor-based autonomy is extended to configuration

21、-based autonomy. Indeed, although a deployed system can have all the sensory and planning information it needs, it may still not be able to accomplish its task because the task is beyond the system’s physical capabilitie

22、s. A rapidly deployable system, on the other hand, could adapt its physical capabilities based on task specif</p><p>　　2 Design of self-contained hardware modules</p><p>　　In most industrial man

23、ipulators, the controller is a separate unit housing the sensor interfaces, power amplifiers, and control processors for all the joints of the manipulator.A large number of wires is necessary to connect this control unit

24、 with the sensors, actuators and brakes located in each of the joints of the manipulator. The large number of electrical connections and the non-extensible nature of such a system layout make it infeasible for modular ma

25、nipulators. The solution we propose is</p><p>　　2.1 Mechanical design</p><p>　　The goal of the RMMS project is to have a wide variety of hardware modules available. So far, we have built four ki

26、nds of modules: the manipulator base, a link module, three pivot joint modules (one of which is shown in Figure 2), and one rotate joint module. The base module and the link module have no degrees-of-freedom; the joint m

27、odules have one degree-of-freedom each. The mechanical design of the joint modules compactly fits a DC-motor, a fail-safe brake, a tachometer, a harmonic drive and a</p><p>　　The pivot and rotate joint modul

28、es use different outside housings to provide the right-angle or in-line configuration respectively, but are identical internally. Figure 4 shows in cross-section the internal structure of a pivot joint. Each joint module

29、 includes a DC torque motor and 100:1 harmonic-drive speed reducer, and is rated at a maximum speed of 1.5rad/s and maximum torque of 270Nm. Each module has a mass of approximately 10.7kg. A single, compact, X-type beari

30、ng connects the two joint ha</p><p>　　2.2 Electronic design</p><p>　　The custom-designed on-board electronics are also designed according to the principle of modularity. Each RMMS module contain

31、s a motherboard which provides the basic functionality and onto which daughtercards can be stacked to add module specific functionality.</p><p>　　The motherboard consists of a Siemens 80C166 microcontroller,

32、 64K of ROM, 64K of RAM, an SMC COM20020 universal local area network controller with an RS-485 driver, and an RS-232 driver. The function of the motherboard is to establish communication with the host interface via an R

33、S-485 bus and to perform the lowlevel control of the module, as is explained in more detail in Section 4. The RS-232 serial bus driver allows for simple diagnostics and software prototyping.</p><p>　　A stack

34、ing connector permits the addition of an indefinite number of daughtercards with various functions, such as sensor interfaces, motor controllers, RAM expansion etc. In our current implementation, only modules with actuat

35、ors include a daughtercard. This card contains a 16 bit resolver to digital converter, a 12 bit A/D converter to interface with the tachometer, and a 12 bit D/A converter to control the motor amplifier; we have used an o

36、fthe-shelf motor amplifier (Galil Motion Control mode</p><p>　　3 Integrated quick-coupling connectors</p><p>　　To make a modular manipulator be reconfigurable, it is necessary that the modules c

37、an be easily connected with each other. We have developed a quick-coupling mechanism with which a secure mechanical connection between modules can be achieved by simply turning a ring handtight; no tools are required. As

38、 shown in Figure 5, keyed flanges provide precise registration of the two modules. Turning of the locking collar on the male end produces two distinct motions: first the fingers of the locking ring</p><p>　　

39、At the same time the mechanical connection is made,pneumatic and electronic connections are also established. Inside the locking ring is a modular connector that has 30 male electrical pins plus a pneumatic coupler in th

40、e middle. These correspond to matching female components on the mating connector. Sets of pins are wired in parallel to carry the 72V-25A power for motors and brakes, and 48V–6A power for the electronics. Additional pins

41、 carry signals for two RS-485 serial communication busses an</p><p>　　4 ARMbus communication system</p><p>　　Each of the modules of the RMMS communicates with a VME-based host interface over a l

42、ocal area network called the ARMbus; each module is a node of the network. The communication is done in a serial fashion over an RS-485 bus which runs through the length of the manipulator. We use the ARCNET protocol [1]

43、 implemented on a dedicated IC (SMC COM20020). ARCNET is a deterministic token-passing network scheme which avoids network collisions and guarantees each node its time to access the network. Bloc</p><p>　　Th

44、e first node of the network resides on the host interface card, as is depicted in Figure 6. In addition to a VME address decoder, this card contains essentially the same hardware one can find on a module motherboard. The

45、 communication between the VME side of the card and the ARCNET side occurs through dual-port RAM.</p><p>　　There are two kinds of data passed over the local area network. During the manipulator initializatio

46、n phase, the modules connect to the network one by one, starting at the base and ending at the end-effector. On joining the network, each module sends a data-packet to the host interface containing its serial number and

47、its relative orientation with respect to the previous module. This information allows us to automatically determine the current manipulator configuration.</p><p>　　During the operation phase, the host interf

48、ace communicates with each of the nodes at 400Hz. The data that is exchanged depends on the control mode—centralized or distributed. In centralized control mode, the torques for all the joints are computed on the VME-bas

49、ed real-time processing unit (RTPU), assembled into a data-packet by the microcontroller on the host interface card and broadcast over the ARMbus to all the nodes of the network. Each node extracts its torque value from

50、the packet and re</p><p>　　5 Modular and reconfigurable control software</p><p>　　The control software for the RMMS has been developed using the Chimera real-time operating system, which support

51、s reconfigurable and reusable software components [15]. The software components used to control the RMMS are listed in Table 1. The trjjline, dls, and grav_comp components require the knowledge of certain configuration d

52、ependent parameters of the RMMS, such as the number of degrees-of-freedom, the Denavit-Hartenberg parameters etc. During the initialization phase, the RMMS interface es</p><p>　　After the initialization, the

53、 rmms software component operates in a distributed control mode in which the microcontrollers of each of the RMMS modules perform PID control locally at 1900Hz. The communication between the modules and the host interfac

54、e is at 400Hz, which can differ from the cycle frequency of the rmms software component. Since we use a triple buffer mechanism [16] for the communication through the dual-port RAM on the ARMbus host interface, no synchr

55、onization or handshaking is nec</p><p>　　Because closed form inverse kinematics do not exist for all possible RMMS configurations, we use a damped least-squares kinematic controller to do the inverse kinemat

56、ics computation numerically..</p><p>　　6 Seamless integration of simulation</p><p>　　To assist the user in evaluating whether an RMMS con- figuration can successfully complete a given task, we h

57、ave built a simulator. The simulator is based on the TeleGrip robot simulation software from Deneb Inc., and runs on an SGI Crimson which is connected with the real-time processing unit through a Bit3 VME-to-VME adaptor,

58、 as is shown in Figure 6. A graphical user interface allows the user to assemble simulated RMMS configurations very much like assembling the real hardware. Completed confi</p><p><b>　　7 Summary</b&g

59、t;</p><p>　　We have developed a Reconfigurable Modular Manipulator System which currently consists of six hardware modules, with a total of four degrees-of-freedom. These modules can be assembled in a large

60、number of different configurations to tailor the kinematic and dynamic properties of the manipulator to the task at hand. The control software for the RMMS automatically adapts to the assembly configuration by building k

61、inematic and dynamic models of the manipulator; this is totally transparent to the us</p><p>　　Acknowledgment</p><p>　　This research was funded in part by DOE under grant DE-F902-89ER14042, by S

62、andia National Laboratories under contract AL-3020, by the Department of Electrical and Computer Engineering, and by The Robotics Institute, Carnegie Mellon University.</p><p>　　The authors would also like t

63、o thank Randy Casciola, Mark DeLouis, Eric Hoffman, and Jim Moody for their valuable contributions to the design of the RMMS system.</p><p>　　可迅速布置的機(jī)械手系統(tǒng)</p><p>　　作者：Christiaan J.J. Paredis, H.

64、Benjamin Brown, Pradeep K. Khosla</p><p><b>　　摘 要： </b></p><p>　　一個(gè)迅速可部署的機(jī)械手系統(tǒng)，可以使再組合的標(biāo)準(zhǔn)化的硬件的靈活性用標(biāo)準(zhǔn)化的編程工具結(jié)合，允許用戶(hù)迅速建立為一項(xiàng)規(guī)定的任務(wù)來(lái)通常地控制機(jī)械手。這篇文章描述這樣的一個(gè)系統(tǒng)的兩個(gè)主要方面，即，再組合的標(biāo)準(zhǔn)化的機(jī)械手系統(tǒng)(RMMS)硬件和相應(yīng)控

65、制軟件。</p><p><b>　　1 介紹</b></p><p>　　機(jī)器人操縱裝置可能容易被程序重調(diào)執(zhí)行不同的任務(wù)， 然而一個(gè)機(jī)械手可以執(zhí)行的任務(wù)的范圍已經(jīng)被它的機(jī)械結(jié)構(gòu)限制。例如，一個(gè)很適合準(zhǔn)確的運(yùn)動(dòng)的機(jī)械手在一張桌子上部或許將不能朝著垂直的方向舉起重物。因此，執(zhí)行規(guī)定的任務(wù)，需要有一個(gè)合適的機(jī)械結(jié)構(gòu)來(lái)選擇機(jī)械手。</p><p>　

66、　我們提議一個(gè)迅速可部署的機(jī)械手系統(tǒng)的概念來(lái)處理固定構(gòu)造的機(jī)械手的上述的缺點(diǎn)。一迅速可部署機(jī)械手系統(tǒng)由迅速建造的軟件和硬件組成，是適合一規(guī)定任務(wù)的一個(gè)機(jī)械手。</p><p>　　一個(gè)迅速可部署的系統(tǒng)的中心的組成部分是一個(gè)再組合的標(biāo)準(zhǔn)化的機(jī)械手系統(tǒng)(RMMS)。 RMMS利用一可交換的連接的和各種尺寸和性能的共同模件。通過(guò)結(jié)合這些多功能的模件，大范圍專(zhuān)用機(jī)械手可以被收集。 最近，有相當(dāng)多的對(duì)機(jī)械手標(biāo)準(zhǔn)化的想法的興

67、趣。但是，對(duì)于研究應(yīng)用以及為工業(yè)應(yīng)用來(lái)說(shuō)， 大多數(shù)這些系統(tǒng)缺乏的必要的能力，這是迅速可部署的體制的概念的關(guān)鍵。</p><p>　　有效的使用RMMS需要基于任務(wù)的設(shè)計(jì)軟件。 這軟件認(rèn)為是任務(wù)和可得到的操縱者模件的輸入描述；作為一標(biāo)準(zhǔn)化會(huì)議構(gòu)造最佳適合執(zhí)行規(guī)定任務(wù)的業(yè)務(wù)的產(chǎn)量產(chǎn)生。幾種不同的方法已經(jīng)被成功使用解決這個(gè)錯(cuò)綜復(fù)雜的問(wèn)題的。 </p><p>　　一個(gè)迅速可部署的機(jī)械手系統(tǒng)的第3

68、 個(gè)重要的組成部分是控制軟件的代的一種框架。為實(shí)時(shí)基于傳感器的控制系統(tǒng)降低軟件生成的復(fù)雜性， 一個(gè)軟件范例叫軟件為會(huì)議已經(jīng)在CMU先進(jìn)的操縱者實(shí)驗(yàn)室里被提出。這個(gè)范例結(jié)合可重復(fù)使用和再組合的軟件成分的概念，象妄想實(shí)時(shí)操作系統(tǒng)支持的那樣,用一個(gè)圖形用戶(hù)界面和可視程序設(shè)計(jì)語(yǔ)言而實(shí)施.</p><p>　　雖然軟件會(huì)議范例提供迅速編程操縱者系統(tǒng)的軟件基礎(chǔ)設(shè)施，但是它不解決編程問(wèn)題?；趥鞲衅鞯臋C(jī)械手系統(tǒng)的明確編程由于必

69、須被為機(jī)器人指定執(zhí)行任務(wù)的廣大數(shù)量的細(xì)節(jié)是麻煩的?；趥鞲衅鞯臋C(jī)器人的軟件綜合問(wèn)題可以被簡(jiǎn)化，通過(guò)提供堅(jiān)固的機(jī)器人技能， 即，為在機(jī)器人任務(wù)域完成普通任務(wù)封裝策略. 這樣機(jī)器人技能能在而不需要考慮任何低級(jí)的細(xì)節(jié)的任務(wù)步計(jì)劃階段使用。</p><p>　　作為使用一個(gè)迅速可部署的系統(tǒng)的例子， 在一種核環(huán)境里，在那里它必須檢查材料和放射性污染的空間，或者集合和修理設(shè)備考慮一個(gè)操縱者。在這樣的一種環(huán)境里， 廣泛改變的動(dòng)

70、態(tài)的(例如，工作區(qū))和動(dòng)態(tài)的(例如，速度，凈載重量)性能被要求， 并且這些要求可能不被知道priori。不得不準(zhǔn)備大套要完成這幾次任務(wù)的不同操縱者一昂貴解決辦法一使用迅速可部署操縱者系統(tǒng)能。 考慮下列腳本：一項(xiàng)具體的任務(wù)一被鑒定，基于任務(wù)的設(shè)計(jì)軟件就使最佳的標(biāo)準(zhǔn)化的會(huì)議構(gòu)造下決心進(jìn)行任務(wù)。人們?nèi)缓髲腞MMS 模件裝配這個(gè)最佳的構(gòu)造或者，將來(lái)，也許到另一個(gè)操縱者。導(dǎo)致的操縱者被迅速通過(guò)使用軟件裝配范例和我們的機(jī)器人技能的信息庫(kù)編程序。 最

71、后，操縱者被有效地使用執(zhí)行它的任務(wù)。雖然這樣的腳本仍然是未來(lái)的， 再組合的標(biāo)準(zhǔn)化的操縱者系統(tǒng)的發(fā)展，在這篇文章里描述，是向我們的一個(gè)迅速可部署的機(jī)械手系統(tǒng)的目標(biāo)的一個(gè)向前的主要的臺(tái)階。</p><p>　　我們的方法能為自治機(jī)械手的下一代形成基礎(chǔ)，其中基于傳感器的自治權(quán)的傳統(tǒng)的觀念被給予基于構(gòu)造的自治權(quán)。的確， 雖然一個(gè)部署的系統(tǒng)能有它需要的全部感覺(jué)并且計(jì)劃的信息， 它可能仍然不能完成它的任務(wù)，因?yàn)槿蝿?wù)是在系統(tǒng)的

72、物理能力以外。一個(gè)迅速可部署的系統(tǒng)， 另一方面， 能改編它的基于任務(wù)說(shuō)明的物理能力和帶有先進(jìn)的感覺(jué)，控制，以及計(jì)劃策略，自動(dòng)完成任務(wù)。</p><p>　　2硬件模塊的2種設(shè)計(jì)</p><p>　　在通常工業(yè)機(jī)械手里， 那些控制器單獨(dú)接在那些傳感器接口，功率放大器，并且因機(jī)械手全部關(guān)節(jié)那些機(jī)械手而控制處理器。許多電線(xiàn)連接這個(gè)控制單位和傳感器，位于機(jī)械手的每個(gè)關(guān)節(jié)的作動(dòng)器和剎車(chē)是必要的。大量

73、電氣裝線(xiàn)和這樣的一次系統(tǒng)平面布置的非可擴(kuò)展性，為標(biāo)準(zhǔn)化的機(jī)械手使它不能實(shí)行。我們提出的這個(gè)解決辦法是將控制硬件分配給操縱者的每個(gè)個(gè)別的模件。 包括傳感器的這些模件然后成為整裝組件，作動(dòng)器，一個(gè)剎車(chē)，一次輸送，一個(gè)傳感器接口，一個(gè)電動(dòng)機(jī)放大器和一個(gè)通信接口。</p><p><b>　　2.1機(jī)械設(shè)計(jì)</b></p><p>　　RMMS 工程的目標(biāo)是有可提供的多種硬件

74、模塊。迄今，我們已經(jīng)建造4 種模件： 操縱者基礎(chǔ)，一連接模塊，樞共同模件(一在身材顯示)，并且一旋轉(zhuǎn)共同模件。底部模件和連接模塊沒(méi)有自由度； 共同模件各自有一自由度。共同模件的機(jī)械設(shè)計(jì)緊密適合一臺(tái)直流電動(dòng)機(jī)，一個(gè)有自動(dòng)防故障設(shè)備的剎車(chē)，一臺(tái)轉(zhuǎn)速表，諧波運(yùn)動(dòng)。</p><p>　　那些樞和旋轉(zhuǎn)共同模件在外部使用提供那些直角不同或者成隊(duì)構(gòu)造分別，但是相同內(nèi)部，在典型地方顯示一共同的樞的內(nèi)部結(jié)構(gòu)。 每個(gè)共同模件包括一臺(tái)

75、直流力矩電動(dòng)機(jī)和100：1的諧波駕駛速度減壓器， 并且被在1.5rad /s 和270納米的最高轉(zhuǎn)矩的最高速度下。不是每個(gè)模件都有塊大約10.7公斤一單個(gè)，小型，耐壓的X 類(lèi)型提供需要的剛性連結(jié)并且相連在一起。一根空的電動(dòng)機(jī)軸通過(guò)全部旋轉(zhuǎn)的零部件，并且為最小的屈曲電信號(hào)的傳送提供一條通道。</p><p><b>　　2.2 電子設(shè)計(jì)</b></p><p>　　通俗

76、設(shè)計(jì)的艙中的電子也被根據(jù)的原則設(shè)計(jì)。每個(gè)RMMS 模件包含主板，提供基本的功能性和可以被堆積增加模件具體的功能性。</p><p>　　主板由西門(mén)子80C 166組成， 64 K ROM，RAM，一SMC COM20020的64 K 有一臺(tái)RS-485 驅(qū)動(dòng)器和一臺(tái)RS-232 驅(qū)動(dòng)器的普遍的局部地區(qū)網(wǎng)絡(luò)控制器。主板的功能是通過(guò)一種RS-485公共系統(tǒng)建立與主接口的聯(lián)系和進(jìn)行程序控制模件， 象在第4 部分被更詳細(xì)

77、解釋的那樣。RS-232 連續(xù)的公共汽車(chē)司機(jī)考慮到單純的診斷和軟件原型法。</p><p>　　一個(gè)堆積的連接器有各種各樣的功能允許模糊的數(shù)量的增加，例如傳感器接口，電動(dòng)機(jī)控制器，RAM 擴(kuò)大器等等，在我們的當(dāng)今的實(shí)施里，只是有作動(dòng)器的模件包括daughtercard。 這張卡片到數(shù)字化的變換器包含一16位resolver，要與轉(zhuǎn)速表和一臺(tái)12 位D/A變換器接口控制電動(dòng)機(jī)放大器的一臺(tái)12 位模數(shù)轉(zhuǎn)換器；我們已經(jīng)

78、使用一個(gè)ofthe 架子電動(dòng)機(jī)放大器(Galil運(yùn)動(dòng)控制模型SSA 8/80)驅(qū)動(dòng)直流電動(dòng)機(jī)。對(duì)有超過(guò)一自由度，例如一個(gè)腕模件的模件來(lái)說(shuō)，不止一這樣的daughtercard可以被堆積到相同的主板上。</p><p>　　3 綜合連合的連接器</p><p>　　為了使一個(gè)標(biāo)準(zhǔn)化的機(jī)械手再組合，模件可能容易被彼此連結(jié)是必要的。我們已經(jīng)發(fā)展一個(gè)迅速連合的機(jī)制，在模件之間的一個(gè)安全的機(jī)械連接

79、可以通過(guò)僅僅轉(zhuǎn)動(dòng)一枚handtight被取得； 沒(méi)有工具被要求。調(diào)整凸緣提供兩個(gè)模件的準(zhǔn)確的連接。 鎖住的手腕的轉(zhuǎn)動(dòng)在末端上產(chǎn)生兩種不同的動(dòng)作：首先，鎖住的手指大約22.5 程度和捕獲輪流(與手腕一起)手指在凸緣上運(yùn)動(dòng)；其次，那些手腕相對(duì)于鎖住的手指，而凸輪機(jī)制強(qiáng)迫那些內(nèi)在的手指在可靠緊握輪子的凸緣運(yùn)動(dòng)。在領(lǐng)和鎖住的手指之間的轉(zhuǎn)動(dòng)機(jī)構(gòu)自動(dòng)生產(chǎn)這個(gè)運(yùn)動(dòng)順序。</p><p>　　同時(shí)機(jī)械連接被做成為裝滿(mǎn)和電子的連接

80、。 在每鎖住的指里面有30電別針以上一裝滿(mǎn)電子偶合器在中間的一標(biāo)準(zhǔn)化連接器是。這些符合匹配鋪席子的連接器上的凹形零部件。 別針被電報(bào)告知在方面與平行那些72 V－25A去電動(dòng)機(jī)和剎車(chē)和去那些電子的權(quán)力48 V－6A的權(quán)力。</p><p>　　4 ARMbus 通信系統(tǒng)</p><p>　　RMMS的每個(gè)模件在一個(gè)稱(chēng)為ARMbus的局域網(wǎng)上方與一個(gè)基于VME的主接口聯(lián)系； 每個(gè)模件都是一

81、個(gè)網(wǎng)絡(luò)的節(jié)點(diǎn)。通訊被在機(jī)械手的長(zhǎng)度的一輛RS-485公共汽車(chē)上方用連續(xù)方式做。 我們使用ARCNET 協(xié)議 [1]在一奉獻(xiàn)的IC(SMC COM20020)上實(shí)現(xiàn)。ARCNET是避免網(wǎng)絡(luò)沖突并且在訪問(wèn)網(wǎng)絡(luò)的它的時(shí)間保證每個(gè)節(jié)點(diǎn)的一個(gè)決定性的權(quán)標(biāo)傳遞網(wǎng)絡(luò)計(jì)劃。稱(chēng)為包的信息的塊可能被在網(wǎng)絡(luò)上從任何節(jié)點(diǎn)送給其它節(jié)點(diǎn)中的任何一個(gè)， 或者對(duì)全部節(jié)點(diǎn)同時(shí)(廣播)。 每當(dāng)它得到標(biāo)志的時(shí)候，每個(gè)節(jié)點(diǎn)可以送一包。</p><p>

82、　　網(wǎng)絡(luò)的第一個(gè)節(jié)點(diǎn)保存在主接口卡，象被用圖6 描繪的那樣。 除一VME 地址譯碼器之外，這卡片包含基本上相同的硬件一能在模件主板上發(fā)現(xiàn)。在這張卡上的VME和ARCNET之間的聯(lián)系邊是通過(guò)雙口RAM 發(fā)生的。有兩種數(shù)據(jù)通過(guò)局域網(wǎng)。 在機(jī)械手預(yù)置階段期間，模件一個(gè)接一個(gè)連接網(wǎng)絡(luò)，在基礎(chǔ)啟動(dòng)并且結(jié)束最后effector。關(guān)于參加網(wǎng)絡(luò)，每模件寄一數(shù)據(jù)包給包含它的順序號(hào)和它的與以前的艙有關(guān)的有關(guān)的認(rèn)識(shí)新環(huán)境的主機(jī)接口。這信息允許我們自動(dòng)確定當(dāng)今

83、的機(jī)械手構(gòu)造。在運(yùn)行階段，主接口以400赫茲與每個(gè)節(jié)點(diǎn)聯(lián)系。 被交換的數(shù)據(jù)取決于控制模式集中或者被分配。用集中的控制模式，全部關(guān)節(jié)的力矩被在基于VME的實(shí)時(shí)工藝設(shè)備(RTPU)上計(jì)算，進(jìn)一數(shù)據(jù)包以microcontroller 集合在主接口卡上和越過(guò)ARMbus隨著的全部網(wǎng)絡(luò)的節(jié)點(diǎn)。每個(gè)節(jié)點(diǎn)從包中抽出它的力矩價(jià)值并且通過(guò)使數(shù)據(jù)包包含resolver 和轉(zhuǎn)速表讀數(shù)回答。用分配的控制模式， 另一方面，主機(jī)播送被期望的共同價(jià)值和前饋力矩。 當(dāng)

84、地，在每個(gè)模件里，控制環(huán)然后能被在比400赫茲高得多的頻率關(guān)閉模件仍然把傳感器讀數(shù)回寄給主聯(lián)接于被在隨后的前饋力矩的計(jì)算內(nèi)使</p><p>　　5 標(biāo)準(zhǔn)化和再組合的控制軟件</p><p>　　控制軟件給RMMS 發(fā)展使用妄想實(shí)時(shí)操作系統(tǒng)，支持再組合和可重復(fù)使用的軟件成分 [15]. 用來(lái)控制RMMS的軟件成分被列舉。主題組成部分需要一定構(gòu)造RMMS的依靠的參數(shù)知識(shí)，在預(yù)置階段期間， R

85、MMS接口建立與每個(gè)硬件模塊的關(guān)系自動(dòng)確定哪個(gè)模件正被使用， 并且他們的命令和定向收集。對(duì)每個(gè)模件來(lái)說(shuō)，一個(gè)數(shù)據(jù)提交給一個(gè)參數(shù)模型被讀。 通過(guò)結(jié)合這全部模件的信息，整個(gè)操縱者的動(dòng)態(tài)和動(dòng)態(tài)的模型被建造。在預(yù)置之后， rmms 軟件成分在一內(nèi)經(jīng)營(yíng)分配的在哪個(gè)每RMMS 模件的執(zhí)行PID的控制模式控制當(dāng)?shù)卦?900赫茲。在模件和主機(jī)接口之間的聯(lián)系以400赫茲，這能不同于rmms 軟件成分的循環(huán)頻率。 自從我們使用一個(gè)三倍的緩沖區(qū)機(jī)制 [16]

86、 對(duì)于通訊來(lái)說(shuō)通過(guò)雙口RAM在ARMbus 主接口上，沒(méi)有同步或者握手是必要的。因?yàn)殛P(guān)閉形式倒轉(zhuǎn)的運(yùn)動(dòng)學(xué)不為全部可能的RMMS 構(gòu)造存在，我們用一個(gè)最小平方動(dòng)態(tài)的控制做倒轉(zhuǎn)的運(yùn)動(dòng)學(xué)計(jì)算。</p><p><b>　　6 綜合模擬</b></p><p>　　為了幫助用戶(hù)評(píng)價(jià)是否一RMMS 記誦外形能成功完成一項(xiàng)規(guī)定的任務(wù)，我們已經(jīng)建造一個(gè)模擬器。模擬器基于來(lái)自Dene

87、b股份有限公司的TeleGrip 機(jī)器人模擬軟件， 在哪個(gè)是與有關(guān)系實(shí)時(shí)工藝設(shè)備通過(guò)一Bit3 VME對(duì)VME的改編者，象被在圖6 顯示的那樣的一SGI深紅色上運(yùn)行。一個(gè)圖形用戶(hù)界面允許用戶(hù)集合模擬的RMMS 構(gòu)造太喜歡集合真正的硬件。完成構(gòu)造可以測(cè)試并且編程序使用TeleGrip對(duì)機(jī)器人設(shè)備起作用。構(gòu)造也能被與涉及相同的RTPUs的實(shí)時(shí)軟件用來(lái)控制實(shí)際硬件的妄想接口。因此，評(píng)價(jià)不但操縱者的運(yùn)動(dòng)是可能的，而且實(shí)時(shí)的CPU 用法和負(fù)載平衡

88、。 與實(shí)際任務(wù)實(shí)行相比較，顯示一次RMMS 模擬。</p><p><b>　　7 結(jié)束語(yǔ)</b></p><p>　　我們已經(jīng)發(fā)展目前由6 個(gè)硬件模塊組成，帶有共4 自由度的一個(gè)再組合的標(biāo)準(zhǔn)化的機(jī)械手系統(tǒng)。這些模件可以在許多不同的構(gòu)造里裝配。把機(jī)械手的靜態(tài)和動(dòng)態(tài)的特性調(diào)整到任務(wù)。RMMS的控制軟件通過(guò)建造機(jī)械手的動(dòng)態(tài)和動(dòng)態(tài)的模型自動(dòng)適應(yīng)會(huì)議構(gòu)造；這對(duì)用戶(hù)全部透明。