ng hc ngc robot

M u
ng hc ngc: Nhm tnh ton cc thng s bin khp khi v tr ca u cui cng tc bit Pht biu bi ton Cho trc mt ma trn bin i homogenous 4x4 sau: n x n K= y nz 0
T

ox oy oz 0

ax ay az 0

px py pz 1

(1)

Tm mt hay tt c nghim = (1 , 2 ,..., n ) ca phng trnh sau

0 n

T(1 , K, n ) = K

(2)

trong
0 n

T(1 ,K, n ) =1 T(1 ) Kn 1 T(n ) 0 n

(3)

v K biu din v tr v hng mong mun ca c cu tc ng cui Phng trnh (2) a n vic gii 12 phng trnh phi tuyn vi n n sau:

Tij = (1 ,K , n ) = k ij , i = 1,2,3 , j = 1,...,4

(4)

trong Tij , k ij tng ng l 12 phn t c gi tr ca Tn0 v K (v hng cui cng ca c Tn0 v

K u l (0,0,0,1) , nn 4 trong s 16 phng trnh t (2) s khng c gi tr). C 6 phng trnh

quan h ging buc gia n x , n y , n z , o x ,... nn ch c 6 phng trnh c lp. V d

c1 [ c 2 (c 4 c5c6 s 4s 6 ) s 2s5c6 ] s1 (s 4 c5c6 + c 4s 6 ) s1 [ c 2 (c 4 c5c6 s 4 c6 ) s 2s5s 6 ] + c1 (s 4 c5c6 + c 4s 6 ) s 2 (c 4 c5c6 s 4s 6 ) c 2s5s 6 c1 [ c 2 (c 4 c5c6 + s 4 c6 ) + s 2s5s 6 ] s1 (s 4 c5s 6 + c 4 c6 ) s1 [ c 2 (c 4 c5c6 + s 4 c6 ) + s 2s5s 6 ] + c1 (s 4 c5s 6 + c 4 c6 ) s 2 (c 4 c5c6 + s 4 c6 ) + c 2s5s 6 c1 (c 2 c 4s5 + s 2 c5 ) s1s 4s5 s1 (c 2 c 4s5 + s 2 c5 ) + c1s 4s5 s 2 c 4s5 + c 2 c5 c1s 2 d 3 s1d 2 + d 6 (c1c2 c4s5 + c1c5s 2 s1s 4s5 ) s1s 2d 3 + c1d 2 + d 6 (c1s 4s5 + c 2 c 4s1s5 + c5s1s 2 ) c 2 d 3 + d 6 (c 2 c5 c 4s 2s5 )
Cc thch thc ca bi ton ng hc ngc

Figure 1: Stanford robot

= = = = = = = = = = = =

nx ny nz ox oy oz ax ay az px py pz

Cc phng trnh trn rt kh gii trc tip, v vn ny cng xy ra i vi hu ht cc tay my robot. V th, ta cn phi tm cc k thut hiu qu c h thng khai tht cu trc ng hc c bit ca tng tay my.

 Trong khi vn ng hc thun lun c li gii duy nht, ch n gin thay cc gi tr bin khp vo cc phng trnh ng hc thun, th vn ng hc ngc c th khng c li gii. Ngay c khi tn ti mt li gii, n cng c th khng l li gii duy nht. Cc phng trnh ng hc thun ni chung l cc hm phi tuyn phc tp i vi bin khp, nghim cho bi ton ng hc ngc c th rt kh gii c ngay c khi nghim tn ti. Vn a nghim

Figure 2:

Figure 3

Cc phng php gii

Phng php hnh hc Phng php i s Phng php s (my tnh)

V d 1

Figure 4: Tay my 2 khu phng

Bng tham s khu cho robot 2 khu ng phng Khu ai i 1 0 a1 2 0 a2

di 0 0

i 1 2

cos 1 sin 1 0 sin 1 cos 1 1T = 0 0 0 0 cos 2 sin 2 1 sin 2 cos 2 2T = 0 0 0 0 Ma trn bin i ca khu cui so vi h to gc cos(1 + 2 ) sin(1 + 2 ) sin( + ) cos( + ) 1 2 1 2 0 0 1 T2 =1 T2 T = 0 0 0 0

0 0 1 0 0 0 1 0

a1 cos 1 a1 sin 1 0 1 a 2 cos 2 a 2 sin 2 0 1

0 a1 cos 1 + a 2 cos(1 + 2 ) 0 a1 sin 1 + a 2 sin(1 + 2 ) 1 0 0 1

Phng trnh ng hc robot n x = cos(1 + 2 ) o x = sin(1 + 2 ) a x = 0 p x = a1 cos 1 + a 2 cos(1 + 2 )

n y = sin(1 + 2 ) nz = 0

o y = cos(1 + 2 ) oz = 0

ay = 0 az = 0

p y = a1 sin 1 + a 2 sin(1 + 2 ) pz = 0

Gii phng trnh ng hc ngc

0 2

T(1 , 2 ) = K

Nghim ch tn ti khi ma trn K c dng cos sin sin cos K= 0 0 0 0 cos(1 + 2 ) sin(1 + 2 ) sin( + ) cos( + ) 1 2 1 2 0 0 0 0
x = a1 cos 1 + a 2 cos(1 + 2 ) y = a1 sin 1 + a 2 sin(1 + 2 )

0 0 1 0

x y 0 1 0 0 1 0 x y 0 1

0 a1 cos 1 + a 2 cos(1 + 2 ) cos sin 0 a1 sin 1 + a 2 sin(1 + 2 ) sin cos = 0 1 0 0 0 1 0 0

Mt khc ta cng c
sin 2 1 + cos 2 1 = 1 2 2 sin 2 + cos 2 = 1
x = a1 cos 1 + a 2 cos(1 + 2 ) y = a sin + a sin( + ) 1 1 2 1 2 2 2 sin 1 + cos 1 = 1 sin 2 2 + cos 2 2 = 1
x = a1 cos 1 + a 2 cos 1 cos 2 a 2 sin 1 sin 2 y = a1 sin 1 + a 2 sin 1 cos 2 + a 2 cos 1 sin 2

2 2 x 2 + y 2 = a1 + a 2 + 2a1a 2 cos2

cos 2 =

1 2a1a 2

{( x

2 + y 2 ) ( a1 + a 2 ) = 2

sin 2 = (1 2 )1/ 2

cos 1 =

1 x(a1 + a 2 ) ya 2 (1 2 )1/ 2 } 2 { x +y
2

sin 1 =

1 {m xa 2 (1 2 )1/ 2 + y(a1 + a 2)} x + y2

2

V d 2

Figure 5: Tay my 3 khp

Figure 6

Figure 7: Chiu tm c tay ln mt phng x0-y0

T php chiu trn Figure, ta c

1 = A tan( xc , yc )

(4.8)

xc nh vi mi ( xc , yc ) (0,0) v c nghim

cos 1 =

xc
2 2 x c + yc

;sin 1 =

yc
2 2 x c + yc

(4.9)

Cc nghim 1 u hp l ngoi tr xc = yc = 0 . Trong trng hp ny, (4.8) khng xc nh v tay my v tr k d (singular configuration), trn hnh 4.3

Hnh 4.4: V tr k d (v s nghim) tm 2 , 3 khi bit trc 1 , ta xt mt phng to bi khu 2 v khu 3 (hnh 4.8). Vi chuyn ng ca khu 2 v 3 trong mt phng. (cn tip, trnh by sau)

Hnh 4.8: Chiu ln mt phng to bi khu 2 v 3