机器人外文文献.doc

Keywords: forward kinematics; sensor network; sensor fusion; FPGA; industrial robot
1、 Introduction 
Flexible manipulator robots have wide industrial applications, with handling and manufacturing operations being some of the most common [1-3]、 High-precision and high-accuracy in robot operations require the study of robot kinematics, dynamics and control [4]、 The aim of forward kinematics is to compute the position and orientation of the robot end effector as a function of the angular position of each joint [1]、 The online estimation of the forward kinematics can contribute to improve the controller performance by considering the joints’ motion collectively、 Therefore, the precision and accuracy of such information is essential to the controller in order to increase its performance in real robotic operations、
Commercially available motion controllers use a single sensor for each joint to estimate the robot’s angular position; the most common sensor is the optical encoder [5-11], which provides a high-resolution feedback to the controller、 However, it only gives information on the servomotor position and any deformations caused by joint flexibilities cannot be monitored [6,12], decreasing the robot’s accuracy、 This problem is more evident in open-chain robots、 Moreover, the provided information is relative, which means that it is impossible to estimate the initial position