机器人外文文献.docx

Keywords: forward kinematics; work; sensor fusion; FPGA; industrial robot 1. Introduction Flexible manipulator robots have wide industrial applications, with handling and manufacturing operations being some of the mon [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 pute the position and orientation of the robot end effector asa 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 mon 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 of the robot. Another sensor that is