Based Variable Geometry Truss Macro - Micro-robots And Their Control

A M wt is anaCtal at the tiP of a hag driPulator The large ooc ishad on the groun and is called tnacro WPulatOL The sInall one with fiJll DOF isnd on the ~ one and is canot bo -- Sucn bo or pe can bere~ as wt Wtwta pe By use Of ar ~ta the-- can mov widely; by use of bo --r, the driPulatOr can movempally and aCCW The InaCIO-ndrm ndPUlatOr SyAn can rtrm the hightw ed. A vedabe tw the mWsrn (VGWh is a-staticallywt truSS tha has for medilied tO N som tUnnber of vtriabe lengthlinks. vGWi haV vny gOod the tD weigh ndos, and no wt moments ortomp can be nd at the joints. MoIeOVer they can be deded to becoWe. be cW Inak VGTMs hav very vaSt potential apPlitalons.As a robo ndghaton VGT -- be high the ha AnaltwPulAn. The disPaCeInen ProbleIn. ldneInallcs, wieCtory pltw fOr obstacleavodanCe, and intelligen contIDl SySteIn of macrowhcro mpatD pe beon vahable -- truss are the forly and pe in thisdiwton.By tw the AM dris netal netWOIk(W, the Proper bo nd-th for wrGT ~atOrs is ds. Based on the CN'N, the fotwpoAnon PIOblem of M wtwt variabe geOtw toruGD is tIaind by use of the tw function. the inVeISe solution ofpohoonfor redundan TTVGT ~ators is obtw. So the Problem of multi soludOnS ininare pose talcul- fOr ch rmGT -- is solved ~ Then,W M fOr H analySis of 7zelled twn variable mptw twPulatOrs is PIDpoed The ntnneric-Symbolic teCtw is haded. Themtw H for is wt on ch analyS ed can be ed to dha theanalytical tw of H H ler aUtOrnaticall on the COrnPUternd on the -- fonnthe or ed pe analyS. be Prochand edon curv ~ of wOW boUndaIy ch are drawn. Compe whPthe nUmerital method the Ntal metha is mofe actw and efficient AccordintO for of H wt' W M multiPle devie, high ~calculation and low coSt ~ of DSP, and the thethe of Wdan n-VGTN the Hl traeCtory Plannin calcMn based on multi DSP chiPS fOrds ThVGT rnaniPators is all out w ed indita tha mismethod is tealthe and aCCtal. The solution tO avoid obStaCles for n-VGTtwuIamrs ler on sterevision for wte deteCtion is ~. theugh thevision edack by use of wiage PrDCeSSing, the thek of mAnPulatOrs is adjUSted inthe' W ID the chaIactere of TTM m~ato StrUCtUre, the criterion is~. A new ch ed eeu is nut he. fu for avta the.conCentri fetlock needed in TTVGT StrUCtUre, and is USeful fOr TTVGT macwiand aPPlitalon de the analsis of the TT-VGT StrUCtUre, the driCt eqwt forM POsition H are ehabIished, for on alH Won methed, awtc aPPIDaC for the inare ~acemen analySis Of 7-celled mededtetIahedID VGTM is Propoed.The PaIalle1 apmp Plwt calcWn and contolling solution bo onmulh DSP chiPs fOr redUndan TTVGT tnanhalatOrs is pIeSented. and the alls fOrMg calculallon are aPPlied in PIDW; the realdrie cothel for redUndanTTNGT InaniPUlators is dried ouL TwO BP netal netwIks are ed for driematicssolution and invrse ldneInacs soution. By debo the opthal object function,alOng with wt the Man oorm Ofoint velocities, the posinon conII'Ol modlW on tWo BP nend netwoIks fOr redUndan ThNGT twPulators is establisAn.The hmpd contIDl M fOr POsitiOn and foI'Ce is Put fotw. Bed on BP neuraltw, the inare lerc soution and the join driven toIqUeS are obtained.Accothe tO the position ny the hthed erefficient of fOrce and posinon is defined.The hybod contIDl methed is mere ndtrie and acctal. The neural adaPtwecontrOller based on tat ar is ~ The State modl of twPUIatOrs isMlished, and apve cothel methed is haced. The triulallon restilt indicatesthat this He coniml methed is more accot and hable. The inVerse bocmedl is investigated nd on hay neuIal netwIk SyStem, then solndons of inversetwc model PrOblern can be obtained fOr the ffo tirn. Based on aboVe inVerserMc iMon USing netal H a theldng contIDl fOr TT-VGTWators driven by AC serv motors is dried Ou.wt to the StnJCtUIe Of wt We pe tu (OVGD, ndon foral coeffidri mtw the SyInbolic solutiOnS fOr the inVeISe kintws ofovor Anere twPulato driven by the riedectric chc rezn are derived anuthe for...