开放式机器人控制器及相关技术研究
|
摘要
大多数现有的工业机器人都使用专用的控制器。非标准的硬件接口、自定义的通信协议以及编程语言使得对硬件和软件的改变都非常困难。这种封闭式的结构限制了机器人适用范围,同时也不利于机器人的研究和产业化。因此,研究具有开放式结构的机器人控制器已成为机器人技术中的一个重要方向。本文以通用5自由度连杆机器人为研究对象,对机器人开放式控制器的实现中所涉及的硬件构成、软件平台以及控制技术等相关问题进行了研究。
通过对开放式机器人控制的概念和发展趋势的讨论,指出了实现开放式控制器的一条有效途径是:充分利用标准的软硬件技术,按照基于接口的,模块化的原则为机器人控制器提供可组装的模块。针对机器人系统的特点,提出了基于组件技术的机器人功能组件模型,并对机器人控制器的功能结构和功能组件的实现方式进行了分析。讨论了开放式机器人控制的实时性问题,采用在通用操作系统上加入实时扩展的方式为控制器提供实时支持,在此平台上,对开放式机器人控制器中的组件通信机制、连接配置和运行调度进行了详细的分析。
为了获得开放式控制器的实验平台,对Movemaster-EX RMV1型机器人原有控制器及其运动学特性进行了详细分析,提出了基于PC+DSP的硬件改造方案,并对改造中所涉及到的接口和驱动实现进行了说明。讨论了基于DSP的多轴运动控制器在开放式机器人控制器实现中的作用,并提出了具有开放特性的多轴运动控制器的设计方案。分析了直流电机驱动的机器人关节的控制模型,提出了一种适于数字实现的在线关节重力补偿算法,可有效提高关节控制的性能。
在机器人的开放式平台上,实现了一个离线编程系统的基本雏形,重点讨论了三维造型和碰撞检测问题。应用面向对象的方法对机器人结构进行分解,通过交互式的输入和选择,可以快速建立起机器人及其环境的三维模型。在碰撞检测中,运用基于Voronoi空间的距离计算方法,实现了快速的干涉判断。另外还对传感器的仿真和机器人的编程问题进行了研究,给出了视觉仿真的初步实现。
为了满足开放式机器人控制器对传感器集成的需要,提出了基于三层组件结构的多传感器集成方法。对基于规划和基于行为的控制方式的特点进行了分析,提出了多传感器机器人的集成控制结构,该结构充分考虑了感知和控制两方面的需要,并将规划和反应式行为控制有机的组合在一起。采用这种控制结构实现了一个实验系统,用于完成简单的装配任务,机器人在完成规划目标的同时,能实时地响应外部环境的变化。
Most of the conventional robot controllers are designed with closed natures, such as non-standard hardware interface, customized communication protocol and special program language. It is difficult and expensive to modify a closed controller to integrate external hardware and software. The closed controller architecture is lacking in flexibility and imposes disadvantageous effect on robotic industry and research. This has led to the demand for controllers based on open architecture. This dissertation mainly aims to implement an open architecture robot controller. Some relative fields are researched, including hardware structure, software platform and control technology.
An approach has been proved to be effective in designing the open architecture controller. This is that an open architecture controller should be constructed by interface-based modular models designed in defacto standard hardware and software techniques. According to this principle, we propose the functional component model of robot. By using this model, the functional architecture of a robot controller is analyzed. The real time performance of the controller is also considered. A real time extension is added on the general OS to support the real time operations. Based on this OS platform, the communication mechanism, configurable connection and run-time schedule of the components in an open architecture controller are researched.
To implement the open architecture controller, a Movemaster-EX RMV1 type robot is used as an experiment platform. The old proprietary controller and kinematics of the robot are analyzed. And then a PC+DSP scheme is proposed to modify the hardware structure. Some details of the interface and driver are described. A design scheme of DSP based multi-axis motion controller is presented. And its open characteristics are discussed also. To improve the performance of joint control, an on-line gravity compensation algorithm is designed and applied to the joints drove by DC motors.
A basic off-line program subsystem is realized based on the open architecture. The 3D modeling and collision detection are two emphases. With the object-oriented method, graphical user interfaces are designed to support the fast 3D modeling of robot by simple menu operations. On collision detection, the distance computation algorithm base on Voronoi space is exploited to make a quick interference judgment. Sensor simulation and robot program are also considered in this subsystem. And a theoretical implementation of vision simulation is presented.
A three-tier architecture is presented to integrate multi-sensor in the open robot controller. Exploiting this integration method and considering the essence of deliberative /reactive control approaches, an integrated control architecture for multi-sensor robot is proposed. This architecture ensures that the robot can adapt to environment changes while achieving the planned goal. An experimental system according to this architecture is constructed.
通过对开放式机器人控制的概念和发展趋势的讨论,指出了实现开放式控制器的一条有效途径是:充分利用标准的软硬件技术,按照基于接口的,模块化的原则为机器人控制器提供可组装的模块。针对机器人系统的特点,提出了基于组件技术的机器人功能组件模型,并对机器人控制器的功能结构和功能组件的实现方式进行了分析。讨论了开放式机器人控制的实时性问题,采用在通用操作系统上加入实时扩展的方式为控制器提供实时支持,在此平台上,对开放式机器人控制器中的组件通信机制、连接配置和运行调度进行了详细的分析。
为了获得开放式控制器的实验平台,对Movemaster-EX RMV1型机器人原有控制器及其运动学特性进行了详细分析,提出了基于PC+DSP的硬件改造方案,并对改造中所涉及到的接口和驱动实现进行了说明。讨论了基于DSP的多轴运动控制器在开放式机器人控制器实现中的作用,并提出了具有开放特性的多轴运动控制器的设计方案。分析了直流电机驱动的机器人关节的控制模型,提出了一种适于数字实现的在线关节重力补偿算法,可有效提高关节控制的性能。
在机器人的开放式平台上,实现了一个离线编程系统的基本雏形,重点讨论了三维造型和碰撞检测问题。应用面向对象的方法对机器人结构进行分解,通过交互式的输入和选择,可以快速建立起机器人及其环境的三维模型。在碰撞检测中,运用基于Voronoi空间的距离计算方法,实现了快速的干涉判断。另外还对传感器的仿真和机器人的编程问题进行了研究,给出了视觉仿真的初步实现。
为了满足开放式机器人控制器对传感器集成的需要,提出了基于三层组件结构的多传感器集成方法。对基于规划和基于行为的控制方式的特点进行了分析,提出了多传感器机器人的集成控制结构,该结构充分考虑了感知和控制两方面的需要,并将规划和反应式行为控制有机的组合在一起。采用这种控制结构实现了一个实验系统,用于完成简单的装配任务,机器人在完成规划目标的同时,能实时地响应外部环境的变化。
Most of the conventional robot controllers are designed with closed natures, such as non-standard hardware interface, customized communication protocol and special program language. It is difficult and expensive to modify a closed controller to integrate external hardware and software. The closed controller architecture is lacking in flexibility and imposes disadvantageous effect on robotic industry and research. This has led to the demand for controllers based on open architecture. This dissertation mainly aims to implement an open architecture robot controller. Some relative fields are researched, including hardware structure, software platform and control technology.
An approach has been proved to be effective in designing the open architecture controller. This is that an open architecture controller should be constructed by interface-based modular models designed in defacto standard hardware and software techniques. According to this principle, we propose the functional component model of robot. By using this model, the functional architecture of a robot controller is analyzed. The real time performance of the controller is also considered. A real time extension is added on the general OS to support the real time operations. Based on this OS platform, the communication mechanism, configurable connection and run-time schedule of the components in an open architecture controller are researched.
To implement the open architecture controller, a Movemaster-EX RMV1 type robot is used as an experiment platform. The old proprietary controller and kinematics of the robot are analyzed. And then a PC+DSP scheme is proposed to modify the hardware structure. Some details of the interface and driver are described. A design scheme of DSP based multi-axis motion controller is presented. And its open characteristics are discussed also. To improve the performance of joint control, an on-line gravity compensation algorithm is designed and applied to the joints drove by DC motors.
A basic off-line program subsystem is realized based on the open architecture. The 3D modeling and collision detection are two emphases. With the object-oriented method, graphical user interfaces are designed to support the fast 3D modeling of robot by simple menu operations. On collision detection, the distance computation algorithm base on Voronoi space is exploited to make a quick interference judgment. Sensor simulation and robot program are also considered in this subsystem. And a theoretical implementation of vision simulation is presented.
A three-tier architecture is presented to integrate multi-sensor in the open robot controller. Exploiting this integration method and considering the essence of deliberative /reactive control approaches, an integrated control architecture for multi-sensor robot is proposed. This architecture ensures that the robot can adapt to environment changes while achieving the planned goal. An experimental system according to this architecture is constructed.
引文
[1]王树国,战强,陈在礼.智能机器人的现状及未来.机器人技术与应用, 1998, (1):4~6
[2]范永,覃民.机器人控制器的现状及展望.机器人, 1999, 2(1):75~80
[3] William E. Ford. What is an Open Architecture Robot Controller. Proceedings of the 1994 IEEE International Symposium on Intelligent Control, 16-18 August, 1994:27~32
[4]周学才,李卫平,李强.开放式机器人通用控制系统.机器人, 1998, 20(1):25~31
[5]时培涛.开放式机器人控制器的控制软件与图形仿真研究:[博士论文].中国科学院自动化研究所, 2001.
[6]武传宇.基于PC+DSP模式的开放式机器人控制系统及其应用研究:[博士论文].浙江大学, 2002.
[7] R. W. Harrigan. Automating the Operation of Robots in Hazardous Environments. Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan, July 26-30, 1993, 2:1211~1219
[8] Young-Jo Cho, Bum-Jae You, Sang-Rok Oh et al. A compact/open network-based controller incorporating modular software architecture for a humanoid robot. Journal of Intelligent and Robotic Systems, 1999, (25):341~355
[9] J. Park, Z. J. Pasek, Y. Shan et al. An open architecture controller for machining processes. Manufacturing Systems, 1996, 25(1):23~27
[10] J. A. Frenandez, J. Gonzalez. The NEXUS open system for integrating robotic software. Robotics Computer Integrated Manufacturing, 1999, (5):431~440
[11] Hua Xu, P. F. Jia, M. Yang et al. Portability in General Open Controllers. Proceedings of TENCON '02, Oct. 2002, 3:1574~1577
[12] G. Pritchow, Ch. Daniel, G. Junghans et al. Open System Controllers - A Challenge for the Future of the Machine Tool Industry. Annals of the CIRP, 1993, 42(1):449~452
[13] G. Pritchow, Y. Altintas, F. Jovane et al. Open Controller Architecture - Past, Present, Future. CIRP Annals - Manufacturing Technology, 2001, 50(2):463~470
[14] F. M. Porctor, J. S. Albus. Open-architecture controllers. IEEE Spectrum, June, 1997, 34(6):60~64
[15]闵越.以PC为基础的数控系统.锻压机械, 1999, (3):47~49
[16]周祖德,魏仁选,陈幼平.开放式控制系统的现状、趋势和对策.中国机械工程, 1999, 10(10):1090~1093
[17] M. A. Bruce, J. R. Cole, R. G. Holland. An Open Standard for Industrial Controllers. Manufacturing Review, 1993, 6(3):180~191
[18] M. B. Leahy, S. B. Petroski. Unified Telerobotic Architecture Project Program Overview. Proceedings of the 1994 IEEE International Conference on Intelligent Robots and Systems, Sept., 1994, 1:240~244
[19] Chrysler, Ford Motor Co., and General Motors. Requirements of Open, Modular Architecture Controllers for Applications in the Automotive Industry. White Paper Version1.1, Dec.1997.
[20] Golden E. Herrin. Open Module Architecture Controllers (OMAC). Modern Machine Shop, 1995, 68(11):160~162
[21] OMAC Users Group. OMAC Baseline Architecture Functional Requirements (Ver. 1.0). 2001.
[22] OMAC Users Group. http://www.OMAC.org
[23] P. Lutz, W. Sperling. OSACA-the vendor neutral Control Architecture. Proceedings of the European Conference on Integration in Manufacturing, Dresden, Germany, 1997: 247~256
[24] Wolfgang Sperling, Peter Lutz. Designing Application for an OSACA Control. Proceeding of the International Mechanical Engineering Congress and Exposition, Dallas, USA, Nov. 16-21, 1997:243~249
[25] Wolfgang Sperling, Peter Lutz. Enabling Open Control Systems - An Introduction to the OSACA System Platform. Proceedings of the Sixth International Symposium on Robotics and Manufacturing(ISRAM’96), 1996:613~620
[26] OSACA. ESPRIT III Projects 6379/9115 OSACAⅠ&ⅡFinal Report. Apr., 1996.
[27] Chihiro Sawada, Okano Akira. Open Controller Architecture OSEC-II:Architecture Overview and Prototype Systems. Proceedings of IEEE 6th International Conference on Emerging Technologies and Factory Automation, 1997:543~550
[28] S. Fujita. OSE: Open System Environment for Controller. Proceedings of the 7th IMEC Conference, 1996:234~244
[29] OSE Consortium. OSEC-ⅡProject Technical Report-Development of OSEC. Oct., 1998.
[30] János Nacsa. Comparison of three different open architecture controllers. Proceedings of IFAC MIM, Prague, 2-4 Aug., 2001:134~138
[31]张明亮,解旭辉,李圣怡.开放式数控系统的初步研究.中国机械工程, 2001, (11):1242~1245
[32] D. J. Miller. Standards and Guidelines for Intelligent Robotic Architecture. Proceedings of AIAA Space Programs and Technologies Conference and Exhibit, Sept. 21-23, 1993:
[33] J. S. Albus, H. G. McCain, R. Lumia. NASA/NBS Standard Reference Model for Telerobot Control System Architecture(NASREM). National Institute of Standards and Technology, Gaithersburg, MD, USA, NIST-TN-1235, 1989.
[34] D. J. Miller, R. C. Lennox. An Object-Oriented Environment for Robot System Architectures. IEEE Control Systems Magazine, Feb 1991, 11(2):14~23
[35] R. J. Anderson. SMART: A Modular Architecture for Robotics and Teleoperation, Proceedings of the IEEE International Conference on Robotics and Automation, Atlanta, GA, May 2-6, 1993:416~421
[36] M. J. McDonald, R. D. Palmquist. Graphical Programming: On-line Robot Simulation for Telerobotic Control, Proceedings of the International Robots and Vision Automation Conference, Detroit, MI, April 5-8, 1993:59~73
[37] S. Sorensen. Overview of a Modular, Industry Standards Based Open Architecture Machine Controller. Proceedings of the International Robots and Vision Automation Conference, Detroit, MI, April 5-8, 1993:37~48
[38] J. A. Fernandez, J. Gonzalez. NEXUS: a flexible, efficient and robust framework for integrating software components of a robotic system. Proceedings of 1998 IEEE International Conference on Robotics and Automation, 1998, 1:524~529
[39] Herman Bruyninckx. Open Robot Control Software: the OROCOS project. Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea, May 21-26, 2001:2523~2528
[40] Anthony Mallet, Sara Fleury, Herman Bruyninckx. A specification of generic robotics software components: Future evolutions of GenoM in the Orocos context. IEEE International Conference on Intelligent Robots and Systems, 2002, 3:2292~2297
[41] Keum-Shik Hong, Kyung-Hyun Choi, Jeom-Goo Kim et al. A PC-based open robot control system: PC-ORC. Robotics and Computer Integrated Manufacturing, 2001, (17):355~365
[42] Fumio Kanehiro, Kiyoshi Fujiwara, Shuuji Kajita et al. Open Architecture Humanoid Robotics Platform. Proceedings of IEEE International Conference on Robotics and Automation, Washington, DC, May, 2002:24~30
[43] M. Mizukawa, T. Koyama, T. Inukai et al. Proposal of open-network-interface for industrial robots (ORiN) and its experimental evaluation. Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2001, 2:689~694
[44]谈世哲.工业机器人控制器开放性、实时性分析方法以及单处理器模式下的实现:[博士论文].上海交通大学, 2002.
[45]何永义,陈一民,方明伦等.基于PC工控机及Windows 95的机器人通用控制器的研究.上海大学学报(自然科学版), 1998, 14(1):76~81
[46]肖正宏,徐国华.基于Windows NT平台的智能机器人控制软件.华中理工大学学报, 1998, 126(7):742~745
[47]万仁明,景兴碧,张以都.基于PMAC下SCARA机器人控制器.机械与电子, 2001, (1):19~21
[48] R. M. Adler. Emerging Standard for Component Software. Computer. 1995, 3:68~77
[49] D. Krieger, R. M. Adler. The Emergence of Distributed Computer Platforms. Computer. 1998, 31(3):43~53
[50]郭建强,龚杰民.构件软件与面向对象技术.西安电子科技大学学报, 1998, 25(6):719~724
[51] James Rumbaugh, Ivar Jacobson, Grady Boock. The Unified Modeling Language Reference Manual. Addison Wesley Longman, Inc., 1999.
[52] D. D’Souza, A. C. Wills. Objects, Components, and Frameworks with UML-The Catalysis Approach. Addison-Wesley, 1997.
[53] C. Szyperski. Component Software: Beyond Object-oriented Programming. Addison-Wesley, 1998.
[54] W. Emmerich, N. Kaveh. Component technologies: Java Beans, COM, CORBA, RMI, EJB and the CORBA Component Model. In Proceedings of the 24th International Conference on Software Engineering, Orlando, Florida, USA, May 2002: 691~692
[55] Object Management Group. http://www.omg.org
[56] OMG. The Common Object Request Broker: Architecture and Specification, Version 3.0.3. Object Management Group, March 2004.
[57] OMG. CORBA Components, Version 3.0. Object Management Group, June 2002.
[58] D. Levine, C. Gill, D. Schmidt. Dynamic Scheduling Strategies for Avionics Mission Computing. Proceedings of the 17th IEEE/AIAA Digital Avionics Systems Conference(DASC), Seattle, WA, 1998, (1):1~8
[59] C. O’Ryan, D. Schmidt. Applying a Scalable CORBA Event Service to Large-scale Distributed Interactive Simulation. Proceedings of 5th International Workshop on Object-oriented Real-time Dependable Systems, Monterey, CA, 2000:67~74
[60] F. E. Redmond. DCOM: Microsoft Distributed Component Object Model. IDGBooks Worldwide, Inc., 1997.
[61] A. Speck. Component-based Control. Proceedings of 2000 Int. IEEE Symposium and Workshop on Engineering of Computer Based Systems, IEEE Computer Society Press, Edinburgh, UK, 2000:176~184
[62] D. Stewart. Software components for real time. Embedded Systems Programming, Dec. 2000, 13(13):100~138
[63] J. Zalewski. Real-time Software Architecture and Design Patterns: Fundamental Concepts and Their Consequences. Annual Reviews in Control. 2001, 25(1):133~146
[64] John Michaloski, Sushil Birla, C. Jerry Yen et al. An open system framework for component-based CNC machine. ACM Computing Surveys, 2000, 32(1es):23~28
[65] C. Paredis, B. Brown, P. Khosla. A Rapidly Deployable Manipulator System. Robotics and Autonomous Systems, 1997, 21:289~304
[66] D. Stewart, R. Volpe, P. Khosla. Design of Dynamically Reconfigurable Real-Time Software Using Port-Based Objects. IEEE Trans. On Software Engineering, 1997, 23(12):759~776
[67] E. Messina, J. Horst, T. Kramer et al. Component specifications for robotics integration. Autonomous Robots. June 1999, 6(3):247~264
[68] M. Lindstr?m, A. Oreb?ck, H. Christensen. Berra: A research architecture for service robots. Proceedings of IEEE International Conference on Robotics and Automation, 2000, (4): 3278~3283
[69] Volker Denneberg, Peter Fromm. OSCAR: An open software concept for autonomous robots. Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, Aug. 1998, v2:1192~1197
[70] M. Fujita and K. Kageyama. An open architecture for robot entertainment. Proceedings of the first international conference on Autonomous agents, March 1997:435~442
[71] M. Fujita, H. Kitano, K. Kageyama. A reconfigurable robot platform. Robotics and Autonomous Systems. Nov. 1999, 29(2-3):119~132
[72] D. C. Schmidt, T. Suda. The service configurator framework: an extensible architecture for dynamically configuring concurrent, multi-service network daemons. IEEE Second International Workshop on Configurable Distributed Systems, Mar. 1994:190~201
[73] R. Simmons. Structured control for autonomous robots. IEEE Transactions on Robotics and Automation, 1994, 10(1):34~43
[74] M. Steenstrup, M. A. Arbib, and E. G. Manes. Port Automated and the Algebra of Concurrent Processes. Journal of Computer and System Sciences, 1983,27(1):29~50
[75] D. M. Lyons, M. A. Arbib. A Formal Model of Computation for Sensory-Based Robotics. IEEE Trans. On Robotics and Automation, 1989, 5(3):280~293
[76] D. B. Stewart, P. K. Khosla. The Chimera Methodology: Designing Dynamically Reconfigurable Real-Time Software using Port-Based Objects. International Journal of Software Engineering and Knowledge Engineering, 1996, 6(2):249~277
[77] Chunhao Joseph Lee, Constantinos Mavroidis. PC-Based Control of Robotics and Mechatronic Systems Under MS-Windows NT Workstation. IEEE/ASME Transaction on Mechatronic, 2001, 6(3):311~321
[78]周德兴,孟晓风.实时系统软件设计方法.计算机自动测量与控制, 2000, 8(4):4~6
[79]李扬,韩震宇.实时系统软件设计.中国测试技术, 2004, (5):74~75
[80]叶以民,赵会斌,耿增强等.嵌入式系统中的实时操作系统.测控技术, 2000, 19(4):6~8
[81] Hua Xu, Peifa Jia, Yannan Zhao. Conceiving, Analyzing, Modeling, Verifying and Developing– The Clews of Modeling Open Software Architecture of Robot Controllers. Proceedings of International Conference on Info-Tech and Info-Net Proceedings, 2001, Part4, v4:352~363
[82] M. Timmerman, B. V. Beneden, L. Uhres. Windows NT real-time extensions better or worse? Real-Time Magazine, 1998, (3):11~19
[83] M. Timmerman, J. C. Monfret. Windows NT as a real-time OS. Real-Time Magazine, 1997, (2):6~13
[84]梁宏斌,王永章.基于Windows的开放式数控系统实时性问题研究.计算机集成制造系统-CIMS, 2003, (5):403~406
[85] C. Douglas, Fred Kuhns. An Overview of the real-time CORBA Specification. Computer, 2000, 1:56~63
[86] N. Murphy. Introduction to CORBA for Embedded Systems. Embedded Systems Programming, 1998, 10:60~73
[87] Ricardo Sanz, Mariano Alonso. CORBA for Control Systems. Annual Reviews in Control, 2001, 25:169~181
[88] Janusz Zalewski. Object Orientation vs. Real-Time Systems-Response to Alan C. Shaw’s Contribution. The International Journal of Time-Critical Computing Systems, 2000, 18:75~77
[89] T. E. Bihari, P. Gopinath. Object-oriented real-time systems: concepts and examples. IEEE Computers, 1992, 25(12):25~32
[90] Mark E. Russinovich, David A. Solomon. Microsoft Windows Internals, FourthEdition: Microsoft Windows Server 2003, Windows XP, and Windows 2000. Microsoft Press, 2004
[91]路明,王平,齐智平.对Windows NT核心的实时性能的分析与测试.计算机工程与应用, 2001, 12:48~50/54
[92]张李超,韩明,董炀斌,黄树槐. Windows NT的实时性研究.计算机工程与应用, 2002, 5:41~42/118
[93]曹双贵,蒋芹.基于80×86 CPU和Windows平台的实时测控系统精确定时.工业控制计算机, 2004, 17(10):32~33/48
[94]吴丽娜,高敬阳. Windows 2000/XP下通用实时采集的设计与实现.计算机应用, 2005, 25(2):443~445
[95] David A. Solomon. Inside Windows NT. 2nd Edition. Microsoft Press, 1998.
[96] Ardence, Inc. RTX 6.1 Documentation. http://www.ardence.com
[97] TAO. http://www.cs.wustl.edu/~schmidt/TAO.html
[98] Herman Bruyninckx, Bob Koninckx, Peter Soetens. A Software Framework for Advanced Motion Control. http://www.mech.kuleuven.ac.be/~bruyninc
[99] J. Denavit, R. S. Hartenberg. A Kinematic Notation for Lower-Pair Mechanisims Based on Matrices. Journal of Applied Mechanics, June, 1995:215~221
[100]黄心汉. PUMA560机器人及运动学方程.电气自动化, 1986, 5:16~21
[101]胡建元,黄心汉. Movemaster-EX机械手运动学方程.电气自动化, 1991, 2:23~26
[102]谭建成.电机控制专用集成电路.北京:机械工业出版社, 1997.
[103] K. M. Smith, Lai Zh. A New PWM Controller with One-Cycle Response. IEEE Transaction on Power Electronics, 1999, 14(1): 142~150
[104] Chang Qian, Zhengming Zhao, Yunfeng Liu, Xigen Zhou. Comparisons of PWM and one-cycle control for digital power amplifiers. Proceedings of PIEMC Third Int. Conf., China, 2000, Vol.3:1176~1180
[105]陈伯时.电力拖动自动控制系统(第二版).北京:机械工业出版社, 1999.
[106]孙志刚,马文光,朱德森.基于80C196KC的交流伺服电机控制卡的开发与应用.机械与电子, 1999, (3):22~23
[107]唐义良,王心远,邹道元.基于PSD技术的控制器两片硬件设计.测控技术, 1999, (3):48~50
[108]富历新,董春,金远强.基于ASIC的四轴步进电机运动控制器.微特电机, 1998, (4):35~36
[109]富历新,董春,相欣..基于PC总线的四轴电机运动控制器.电气传动, 1998,(5):35~37
[110]陆渭林.步进电机微机控制卡的研制.声学与电子工程, 1999, (2):34~39
[111]胡建华,廖文和,周儒荣..基于DSP的数控系统的设计研究.机械设计与制造工程, 1999, (1):34~35
[112]齐宝华.一种基于DSP的机器人控制器.电子技术应用, 1996, (2):10~12
[113]许春山,曹广益. DSP在机器人高精度伺服系统中的应用.计算机工程, 2002, 28(3):199~201
[114] P. Rocco. Stability of PID control for industrial robot arms. IEEE Tans. on Robot Automation, 1996, 12(4):606~614
[115]陈启军,王月娟,陈辉堂.基于PD控制的机器人轨迹跟踪性能研究与比较. 2003, 18(1):53~57
[116]刘金琨.先进PID控制MATLAB仿真(第二版).北京:电子工业出版社, 2004: 47~51
[117] H. S. Park, H. S. Cho. On the dynamic characteristics of a redesigned robot. Robotica, 1991, (9):93~98
[118] H. Kazerooni, S. Kim. A new architecture for direct drive robots. Proceedings of the 1988 IEEE Int. Conf. On Robotics and Automation, Philadelphia, PA, August, 1988, 1:442~445
[119] J. P. Huissoon, D. Wang. On the design of a direct drive 5-bar-linkage manipulator. Robotica, 1991, (9):441~446
[120] M. Takegaki, S. Arimoto. A new feedback method for dynamic control of manipulators. ASME Journal of Dynamic Systems, Measurement and Control, 1981, 102(2):119~125
[121]吴方向,周宗锡,龚诚.具有简单重力补偿的机械手反馈控制.机械科学与技术, 2001, 20(3):336~337/345
[122] P. Tomei. Adaptive PD Controller for Robot Manipulators. IEEE Trans. on Robotics and Automation, 1991, 7(4):565~570
[123] R. Kelly. Comments on“Adaptive PD Controller for Robot Manipulators”. EEE Trans. on Robotics and Automation, 1991, 9(1):117~119
[124] Shahram Tafazoli, Peter D. Lawrence, S. E. Salcudean. Identification of Inertial and Friction Parameters for Excavator Arms. IEEE Trans. on Robotics and Automation, 1999, 15(5):966~971
[125] S. Tafazoli, P. D. Lawrence, S. E. Salcudean et al. Prameter Estimation and Actuator Friction Analysis for a Mini Excavator. Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota,Apr. 1996:329~334
[126]尤剑君.机器人离线编程系统的研究:[硕士学位论文].南京理工大学, 2001.
[127] ChuXin Chen, Mohan M. Trivedi, and Clint R. Bidlack. Simulation and animation of sensor-driven robots. IEEE Transaction on Robotics and Automation, 1994, Vol.10(5): 684~704
[128]戴文进,刘静.机器人离线编程系统.世界科技研究与发展, 2003, 25(3): 69~72
[129] H. J. Warnecke. Computer graphics planning of industrial robot application. Proceedings of 3rd symposium on the Theory and Practice of Robotics and Manipulators, Italy, 1978:100~120
[130] W. B. Heginbothan. Computer graphics simulation of industrial robot interactions. Proceedings of the 7th ISIR, 1980:298~310
[131] D. P. Alam. Geometric modeling: a contribution towards intelligent robots. The 13th symposium on Robots and Robotics, 1983, (1):1313~1325
[132] T. L. Welch. Evaluation robotics system through simulation. The 13th symposium on Robots and Robotics, 1983, (1):1341~1348
[133] M. L. Hornick, B. Ravani. Computer-aided Off-line Planning and Programming of Robot Motion. Int. J. of Robotics Research, 1986, 4(4):18~31
[134] R. Speed. Offline Programming for Industrial Robots. The 17th Int. Symposium on Industrial Robots, 1987:21~23
[135] R. O. Buchal. Simulated Off-line Programming of Welding Robots. Int. J. of Robotics Research, 1989, 8(3):31~43
[136] D. J. Miller, R. C. Lennox. An object-oriented environment for robot system architecture. IEEE Control Systems Magazine, 1991, 11(2):14~23
[137] B. Ravani. World Modelling for CAD Based Robot Program and Simulation. CAD Based Programming for Sensory Robots, Springer-verlag, Berlin Heidenberg, 1988:67~89
[138] L. Levals. WADE: An Object-oriented Environment for Modelling and Simulation of Workcell Application. IEEE Trans. on Robotics and Automation, 1989, 5(3):324~336
[139]何汉武,熊有伦,胡汉桥等.一个基于微机的机器人离线编程系统.华中理工大学学报, 1992, 20(5):39~45
[140]何广忠,杨胜群,吴林等. ACADOLP机器人弧焊离线编程系统中的设备建模.焊接学报, 2004, Vol.25(1):99~102
[141]徐国桦,徐毓良,沈家正. CAD/CG在机器人离线编程中的应用.计算机辅助设计与图形学学报, 1996, Vol.8(2):149~154
[142]王克鸿,刘永,徐越兰等. AWOPS系统几何造型及仿真通讯的研究.机械设计与制造, 2001, Vol.30(6):57~61
[143]隋清.基于图形的机器人工作单元设计、仿真、离线编程与基于行为的机器人感知控制的研究:[博士学位论文].中国科学院自动化研究所, 1994.
[144]赵东坡,熊有伦.机器人离线编程系统的研究.机器人, 1997, 19(4):314~320
[145] Z. S. Roth, B. W. Mooring, B. Ravani. An over view of robot calibration. IEEE J. of Robotics and Automation, 1987, RA-3(5):377~384
[146] W. K. Veitschegger, C. H. Wu. Robot calibration and compensation. IEEE J. of Robotics and Automation, 1988, 4(6):643~656
[147] G. R. Tang, S. S. Yeh, L. S. Liu. Automatic kinematics calibration with electronic micrometers. Int. J. of Robotics and Automation, 1994, 7(4):144~151
[148] Boyer Metal. An Object-oriented Paradigm for the Design and Implementation of Robot Planning and Programming System. Proc. of IEEE Int. Conf. on Robotics and Automation, SacraMento, California, 1991:204~209
[149]赵东坡,熊有伦.面向对象机器人离线编程系统的设计准则.机器人, 1997, 19(6):401~406
[150]向世明. OpenGL编程与实例.北京:电子工业出版社, 1999:6~10
[151] Mark Segal, Kurt Akeley. The OpenGL Graphics System: A Specification (Version 1.2). Silicon Graphics, Inc., Mar. 23, 1998:9~11
[152] S. Cameron. Collision Detection by Four Dimensional Intersection Testing. IEEE Trans. on Robotics & Automation, 1990, 6(3):291~302
[153] Harry H. Cheng. Real Time Four Dimensional Collision Detection for an Industrial Robot Manipulator. Journal of Applied Mechanisms & Robotics, Vol.2, No.2, April,1995:20~33
[154] M. D. S. Aliyu, K. S. Al-Sultan. Fast collision detection in four-dimensional space. European Journal of Operational Research, 1999, (114):437~445
[155] Leonidas J. Guibas, Feng Xie, Li Zhang. Kinetic Collision Detection: Algorithms and Experiments. Proceedings of the IEEE Int. Conf. on Robotics & Automation, Seoul, Korea, May 21-26, 2001:2903~2910
[156] Julien Basch, Jeff Erickson, Leonidas J. Guibas et al. Kinetic collision detection between two simple polygons. Computational Geometry, 2004, (27):211–235
[157]范昭炜.实时碰撞检测技术研究:[博士论文].浙江大学, 2003.
[158]王兆其.虚拟环境中物体运动逼真性的研究:[博士论文].北京航空航天大学, 1999.
[159]李学庆.凸体碰撞检测问题的研究:[博士论文].山东大学, 2002.
[160] P. Jime Hnez, F. Thomas, C. Torras. 3D collision detection: a survey. Computers & Graphics, 2001, (25):269~285
[161] Ming C. Lin, John F. Canny. A fast algorithm for incremental Distance Calculation. Proceedings of the IEEE Int. Conf. on Robotics and Automation, Sacramento, California, Apr 1991:1008~1014
[162] Ming C. Lin. Efficient Collision Detection for Animation and Robotics: [Ph.D. Thesis]. University of California, Berkeley, 1993.
[163] J. Cohen, M. C. Lin, D. Manocha et al. I-collide: An interactive and exact collision detection system for large-scale environments. Proceedings of ACM Interactive 3D Graphics Conference, 1995:189~196
[164]王吉连,熊有伦.机器人传感器的仿真.机器人, 1994, 16(4):250~256
[165] M. Huck, J. Raczkowsky. Sensor simulation in robot application. Advanced Robotics Programming Workshop on Manipulators, Sensors and Steps Towards Mobility, 1987:196~209
[166] Ruixiang Wu. Simulation of a robotic tactile sensor using computer graphics. Proceedings of the 1989 ASME International Computers in Engineer Conference and Exposition, Anheim, CA, USA, 1989:81~91
[167]王军.多传感器机器人控制结构及相关技术研究:[博士学位论文].华中理工大学, 1997.
[168] R. C. Luo, M. G. Kay. Multisensor Integration and Fusion in Intelligent Systems. IEEE Trans. on Systems, Man and Cybernetics, 1989, 19(5):901~931
[169] R. C. Luo, M. G. Kay. A Tutorial on Multisensor Integration and Fusion. The 16th Annual Conference of IEEE Industrial Electronics Society(IECON’90), 1990, 1:707~722
[170] P. K. Varshney. Multisensor data fusion. Electronics & Communication Engineering Journal, 1997, 9(6): 245~253
[171] R. C. Luo, Min-Hsiung Lin, R. S. Scherp. Dynamic multi-sensor data fusion system for intelligent robots, IEEE Journal of Robotics Automation, 1988, 14(4):386~396
[172] J. C. Person, J. J. Gelfand, W. E. Sullivan et al. Neural network approach to sensory fusion. Proceedings of SPIE, 1988, 931:103~108
[173] P. K. Allen. A framework for implementing multi-sensor robotic tasks. Proceedings of ASME International Computer in Engr. Conf. And Exhibition, 1987:303~309
[174] T. Henderson, E. Schicrat. Logical sensor system. Journal of Robotic Systems, 1984, 1(2):169~193
[175] T. Henderson, E. Schicrat, C. Hansen. A fault tolerant sensor scheme. Proceedingsof 7th International Conference on Pattern Recognition, Montreal, PQ, Canada, 1984:663~665
[176] T. Henderson, E. Schicrat, B. Bhanu. A framework for distributed sensing and control. Proceedings of 9th International Joint Conference on Artificial Intelligence, Los Angeles, CA, USA, 1985:1106~1109
[177] J. S. Albus. Outline for a theory of intelligence. IEEE Transactions on Systems, Man and Cybernetics, 1991, 21(3):473~509
[178] A. Meystel. Intelligent control in robotics. Journal of Robotic Systems, 1988, 5(4):269~308
[179] Rodney A. Brooks. Intelligence without representation. Artificial Intelligence, 1991, 47(1-3):139~159
[180] Rodney A. Brooks. A robust layered control system for a mobile robot. IEEE Journal of Robotics and Automation, 1986, RA-2(1):14~23
[181] Byeong-Soon Ryu, Hyun Seung Yang. Integration of reactive behaviors and enhanced topological map for robust mobile robot navigation. IEEE Transactions on Systems, Man and Cybernetics-Part A: Systems and Humans, 1999, 29(5):474~485
[182] J. del R. Millan. Reinforcement learning of goal-directed obstacle avoiding reaction strategies in an autonomous mobile robot, Robotics and Autonomous Systems, 1995, 15(4):275~299
[183] Giuseppe Beccari, Stefano Caselli, Monica Reggiani et al. A real-time library for the design of hybrid robot control architecture. Proceedings of the 1998 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Victoria, Canada, Oct. 1998:1145~1150
[184] Reid G. Simmos. Structured control for autonomous robot. IEEE Transactions on Robotics and Automation, 1994, 10(1):34~43
[185] B. Hayes-Roth, R. Washington, R. Hewett et al. Intelligent monitoring and control. Proceedings of International Joint Conference on AI, Detroit, MI, 1989:243~249
[186] D. W. Payton, J. K. Rosenblatt, D. M. Keirsey. Plan guided reaction. IEEE Transactions on Systems, Man and Cybernetic 1990, 20(6):1370~1382
[187] J. Yen, N. Pfluger. A Fuzzy Logic Based Extension to Payton and Rosenblatts Command Fusion Method for Mobile Robot Navigation. IEEE Transactions on Systems, Man and Cybernetics, 1992, 25(6):971~978
[188]黄心汉,胡建元,吴隆安.机器人腕力传感器自动标定的方法.自动化仪表, 1992, 13(6):6~10
[189]黄心汉.机器人腕力传感器标定矩阵的解.电气自动化, 1989, 3:48~50
[190]胡建元.机器人力控制和顺应控制研究:[博士学位论文].华中理工大学, 1991.
[191]彭刚.基于网络的遥操作机器人系统的关键技术研究:[博士学位论文].华中科技大学, 2002.
[192]熊春山.基于数据融合的多传感器机器人控制技术研究:[博士学位论文].华中理工大学, 2000.
[2]范永,覃民.机器人控制器的现状及展望.机器人, 1999, 2(1):75~80
[3] William E. Ford. What is an Open Architecture Robot Controller. Proceedings of the 1994 IEEE International Symposium on Intelligent Control, 16-18 August, 1994:27~32
[4]周学才,李卫平,李强.开放式机器人通用控制系统.机器人, 1998, 20(1):25~31
[5]时培涛.开放式机器人控制器的控制软件与图形仿真研究:[博士论文].中国科学院自动化研究所, 2001.
[6]武传宇.基于PC+DSP模式的开放式机器人控制系统及其应用研究:[博士论文].浙江大学, 2002.
[7] R. W. Harrigan. Automating the Operation of Robots in Hazardous Environments. Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan, July 26-30, 1993, 2:1211~1219
[8] Young-Jo Cho, Bum-Jae You, Sang-Rok Oh et al. A compact/open network-based controller incorporating modular software architecture for a humanoid robot. Journal of Intelligent and Robotic Systems, 1999, (25):341~355
[9] J. Park, Z. J. Pasek, Y. Shan et al. An open architecture controller for machining processes. Manufacturing Systems, 1996, 25(1):23~27
[10] J. A. Frenandez, J. Gonzalez. The NEXUS open system for integrating robotic software. Robotics Computer Integrated Manufacturing, 1999, (5):431~440
[11] Hua Xu, P. F. Jia, M. Yang et al. Portability in General Open Controllers. Proceedings of TENCON '02, Oct. 2002, 3:1574~1577
[12] G. Pritchow, Ch. Daniel, G. Junghans et al. Open System Controllers - A Challenge for the Future of the Machine Tool Industry. Annals of the CIRP, 1993, 42(1):449~452
[13] G. Pritchow, Y. Altintas, F. Jovane et al. Open Controller Architecture - Past, Present, Future. CIRP Annals - Manufacturing Technology, 2001, 50(2):463~470
[14] F. M. Porctor, J. S. Albus. Open-architecture controllers. IEEE Spectrum, June, 1997, 34(6):60~64
[15]闵越.以PC为基础的数控系统.锻压机械, 1999, (3):47~49
[16]周祖德,魏仁选,陈幼平.开放式控制系统的现状、趋势和对策.中国机械工程, 1999, 10(10):1090~1093
[17] M. A. Bruce, J. R. Cole, R. G. Holland. An Open Standard for Industrial Controllers. Manufacturing Review, 1993, 6(3):180~191
[18] M. B. Leahy, S. B. Petroski. Unified Telerobotic Architecture Project Program Overview. Proceedings of the 1994 IEEE International Conference on Intelligent Robots and Systems, Sept., 1994, 1:240~244
[19] Chrysler, Ford Motor Co., and General Motors. Requirements of Open, Modular Architecture Controllers for Applications in the Automotive Industry. White Paper Version1.1, Dec.1997.
[20] Golden E. Herrin. Open Module Architecture Controllers (OMAC). Modern Machine Shop, 1995, 68(11):160~162
[21] OMAC Users Group. OMAC Baseline Architecture Functional Requirements (Ver. 1.0). 2001.
[22] OMAC Users Group. http://www.OMAC.org
[23] P. Lutz, W. Sperling. OSACA-the vendor neutral Control Architecture. Proceedings of the European Conference on Integration in Manufacturing, Dresden, Germany, 1997: 247~256
[24] Wolfgang Sperling, Peter Lutz. Designing Application for an OSACA Control. Proceeding of the International Mechanical Engineering Congress and Exposition, Dallas, USA, Nov. 16-21, 1997:243~249
[25] Wolfgang Sperling, Peter Lutz. Enabling Open Control Systems - An Introduction to the OSACA System Platform. Proceedings of the Sixth International Symposium on Robotics and Manufacturing(ISRAM’96), 1996:613~620
[26] OSACA. ESPRIT III Projects 6379/9115 OSACAⅠ&ⅡFinal Report. Apr., 1996.
[27] Chihiro Sawada, Okano Akira. Open Controller Architecture OSEC-II:Architecture Overview and Prototype Systems. Proceedings of IEEE 6th International Conference on Emerging Technologies and Factory Automation, 1997:543~550
[28] S. Fujita. OSE: Open System Environment for Controller. Proceedings of the 7th IMEC Conference, 1996:234~244
[29] OSE Consortium. OSEC-ⅡProject Technical Report-Development of OSEC. Oct., 1998.
[30] János Nacsa. Comparison of three different open architecture controllers. Proceedings of IFAC MIM, Prague, 2-4 Aug., 2001:134~138
[31]张明亮,解旭辉,李圣怡.开放式数控系统的初步研究.中国机械工程, 2001, (11):1242~1245
[32] D. J. Miller. Standards and Guidelines for Intelligent Robotic Architecture. Proceedings of AIAA Space Programs and Technologies Conference and Exhibit, Sept. 21-23, 1993:
[33] J. S. Albus, H. G. McCain, R. Lumia. NASA/NBS Standard Reference Model for Telerobot Control System Architecture(NASREM). National Institute of Standards and Technology, Gaithersburg, MD, USA, NIST-TN-1235, 1989.
[34] D. J. Miller, R. C. Lennox. An Object-Oriented Environment for Robot System Architectures. IEEE Control Systems Magazine, Feb 1991, 11(2):14~23
[35] R. J. Anderson. SMART: A Modular Architecture for Robotics and Teleoperation, Proceedings of the IEEE International Conference on Robotics and Automation, Atlanta, GA, May 2-6, 1993:416~421
[36] M. J. McDonald, R. D. Palmquist. Graphical Programming: On-line Robot Simulation for Telerobotic Control, Proceedings of the International Robots and Vision Automation Conference, Detroit, MI, April 5-8, 1993:59~73
[37] S. Sorensen. Overview of a Modular, Industry Standards Based Open Architecture Machine Controller. Proceedings of the International Robots and Vision Automation Conference, Detroit, MI, April 5-8, 1993:37~48
[38] J. A. Fernandez, J. Gonzalez. NEXUS: a flexible, efficient and robust framework for integrating software components of a robotic system. Proceedings of 1998 IEEE International Conference on Robotics and Automation, 1998, 1:524~529
[39] Herman Bruyninckx. Open Robot Control Software: the OROCOS project. Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea, May 21-26, 2001:2523~2528
[40] Anthony Mallet, Sara Fleury, Herman Bruyninckx. A specification of generic robotics software components: Future evolutions of GenoM in the Orocos context. IEEE International Conference on Intelligent Robots and Systems, 2002, 3:2292~2297
[41] Keum-Shik Hong, Kyung-Hyun Choi, Jeom-Goo Kim et al. A PC-based open robot control system: PC-ORC. Robotics and Computer Integrated Manufacturing, 2001, (17):355~365
[42] Fumio Kanehiro, Kiyoshi Fujiwara, Shuuji Kajita et al. Open Architecture Humanoid Robotics Platform. Proceedings of IEEE International Conference on Robotics and Automation, Washington, DC, May, 2002:24~30
[43] M. Mizukawa, T. Koyama, T. Inukai et al. Proposal of open-network-interface for industrial robots (ORiN) and its experimental evaluation. Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2001, 2:689~694
[44]谈世哲.工业机器人控制器开放性、实时性分析方法以及单处理器模式下的实现:[博士论文].上海交通大学, 2002.
[45]何永义,陈一民,方明伦等.基于PC工控机及Windows 95的机器人通用控制器的研究.上海大学学报(自然科学版), 1998, 14(1):76~81
[46]肖正宏,徐国华.基于Windows NT平台的智能机器人控制软件.华中理工大学学报, 1998, 126(7):742~745
[47]万仁明,景兴碧,张以都.基于PMAC下SCARA机器人控制器.机械与电子, 2001, (1):19~21
[48] R. M. Adler. Emerging Standard for Component Software. Computer. 1995, 3:68~77
[49] D. Krieger, R. M. Adler. The Emergence of Distributed Computer Platforms. Computer. 1998, 31(3):43~53
[50]郭建强,龚杰民.构件软件与面向对象技术.西安电子科技大学学报, 1998, 25(6):719~724
[51] James Rumbaugh, Ivar Jacobson, Grady Boock. The Unified Modeling Language Reference Manual. Addison Wesley Longman, Inc., 1999.
[52] D. D’Souza, A. C. Wills. Objects, Components, and Frameworks with UML-The Catalysis Approach. Addison-Wesley, 1997.
[53] C. Szyperski. Component Software: Beyond Object-oriented Programming. Addison-Wesley, 1998.
[54] W. Emmerich, N. Kaveh. Component technologies: Java Beans, COM, CORBA, RMI, EJB and the CORBA Component Model. In Proceedings of the 24th International Conference on Software Engineering, Orlando, Florida, USA, May 2002: 691~692
[55] Object Management Group. http://www.omg.org
[56] OMG. The Common Object Request Broker: Architecture and Specification, Version 3.0.3. Object Management Group, March 2004.
[57] OMG. CORBA Components, Version 3.0. Object Management Group, June 2002.
[58] D. Levine, C. Gill, D. Schmidt. Dynamic Scheduling Strategies for Avionics Mission Computing. Proceedings of the 17th IEEE/AIAA Digital Avionics Systems Conference(DASC), Seattle, WA, 1998, (1):1~8
[59] C. O’Ryan, D. Schmidt. Applying a Scalable CORBA Event Service to Large-scale Distributed Interactive Simulation. Proceedings of 5th International Workshop on Object-oriented Real-time Dependable Systems, Monterey, CA, 2000:67~74
[60] F. E. Redmond. DCOM: Microsoft Distributed Component Object Model. IDGBooks Worldwide, Inc., 1997.
[61] A. Speck. Component-based Control. Proceedings of 2000 Int. IEEE Symposium and Workshop on Engineering of Computer Based Systems, IEEE Computer Society Press, Edinburgh, UK, 2000:176~184
[62] D. Stewart. Software components for real time. Embedded Systems Programming, Dec. 2000, 13(13):100~138
[63] J. Zalewski. Real-time Software Architecture and Design Patterns: Fundamental Concepts and Their Consequences. Annual Reviews in Control. 2001, 25(1):133~146
[64] John Michaloski, Sushil Birla, C. Jerry Yen et al. An open system framework for component-based CNC machine. ACM Computing Surveys, 2000, 32(1es):23~28
[65] C. Paredis, B. Brown, P. Khosla. A Rapidly Deployable Manipulator System. Robotics and Autonomous Systems, 1997, 21:289~304
[66] D. Stewart, R. Volpe, P. Khosla. Design of Dynamically Reconfigurable Real-Time Software Using Port-Based Objects. IEEE Trans. On Software Engineering, 1997, 23(12):759~776
[67] E. Messina, J. Horst, T. Kramer et al. Component specifications for robotics integration. Autonomous Robots. June 1999, 6(3):247~264
[68] M. Lindstr?m, A. Oreb?ck, H. Christensen. Berra: A research architecture for service robots. Proceedings of IEEE International Conference on Robotics and Automation, 2000, (4): 3278~3283
[69] Volker Denneberg, Peter Fromm. OSCAR: An open software concept for autonomous robots. Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, Aug. 1998, v2:1192~1197
[70] M. Fujita and K. Kageyama. An open architecture for robot entertainment. Proceedings of the first international conference on Autonomous agents, March 1997:435~442
[71] M. Fujita, H. Kitano, K. Kageyama. A reconfigurable robot platform. Robotics and Autonomous Systems. Nov. 1999, 29(2-3):119~132
[72] D. C. Schmidt, T. Suda. The service configurator framework: an extensible architecture for dynamically configuring concurrent, multi-service network daemons. IEEE Second International Workshop on Configurable Distributed Systems, Mar. 1994:190~201
[73] R. Simmons. Structured control for autonomous robots. IEEE Transactions on Robotics and Automation, 1994, 10(1):34~43
[74] M. Steenstrup, M. A. Arbib, and E. G. Manes. Port Automated and the Algebra of Concurrent Processes. Journal of Computer and System Sciences, 1983,27(1):29~50
[75] D. M. Lyons, M. A. Arbib. A Formal Model of Computation for Sensory-Based Robotics. IEEE Trans. On Robotics and Automation, 1989, 5(3):280~293
[76] D. B. Stewart, P. K. Khosla. The Chimera Methodology: Designing Dynamically Reconfigurable Real-Time Software using Port-Based Objects. International Journal of Software Engineering and Knowledge Engineering, 1996, 6(2):249~277
[77] Chunhao Joseph Lee, Constantinos Mavroidis. PC-Based Control of Robotics and Mechatronic Systems Under MS-Windows NT Workstation. IEEE/ASME Transaction on Mechatronic, 2001, 6(3):311~321
[78]周德兴,孟晓风.实时系统软件设计方法.计算机自动测量与控制, 2000, 8(4):4~6
[79]李扬,韩震宇.实时系统软件设计.中国测试技术, 2004, (5):74~75
[80]叶以民,赵会斌,耿增强等.嵌入式系统中的实时操作系统.测控技术, 2000, 19(4):6~8
[81] Hua Xu, Peifa Jia, Yannan Zhao. Conceiving, Analyzing, Modeling, Verifying and Developing– The Clews of Modeling Open Software Architecture of Robot Controllers. Proceedings of International Conference on Info-Tech and Info-Net Proceedings, 2001, Part4, v4:352~363
[82] M. Timmerman, B. V. Beneden, L. Uhres. Windows NT real-time extensions better or worse? Real-Time Magazine, 1998, (3):11~19
[83] M. Timmerman, J. C. Monfret. Windows NT as a real-time OS. Real-Time Magazine, 1997, (2):6~13
[84]梁宏斌,王永章.基于Windows的开放式数控系统实时性问题研究.计算机集成制造系统-CIMS, 2003, (5):403~406
[85] C. Douglas, Fred Kuhns. An Overview of the real-time CORBA Specification. Computer, 2000, 1:56~63
[86] N. Murphy. Introduction to CORBA for Embedded Systems. Embedded Systems Programming, 1998, 10:60~73
[87] Ricardo Sanz, Mariano Alonso. CORBA for Control Systems. Annual Reviews in Control, 2001, 25:169~181
[88] Janusz Zalewski. Object Orientation vs. Real-Time Systems-Response to Alan C. Shaw’s Contribution. The International Journal of Time-Critical Computing Systems, 2000, 18:75~77
[89] T. E. Bihari, P. Gopinath. Object-oriented real-time systems: concepts and examples. IEEE Computers, 1992, 25(12):25~32
[90] Mark E. Russinovich, David A. Solomon. Microsoft Windows Internals, FourthEdition: Microsoft Windows Server 2003, Windows XP, and Windows 2000. Microsoft Press, 2004
[91]路明,王平,齐智平.对Windows NT核心的实时性能的分析与测试.计算机工程与应用, 2001, 12:48~50/54
[92]张李超,韩明,董炀斌,黄树槐. Windows NT的实时性研究.计算机工程与应用, 2002, 5:41~42/118
[93]曹双贵,蒋芹.基于80×86 CPU和Windows平台的实时测控系统精确定时.工业控制计算机, 2004, 17(10):32~33/48
[94]吴丽娜,高敬阳. Windows 2000/XP下通用实时采集的设计与实现.计算机应用, 2005, 25(2):443~445
[95] David A. Solomon. Inside Windows NT. 2nd Edition. Microsoft Press, 1998.
[96] Ardence, Inc. RTX 6.1 Documentation. http://www.ardence.com
[97] TAO. http://www.cs.wustl.edu/~schmidt/TAO.html
[98] Herman Bruyninckx, Bob Koninckx, Peter Soetens. A Software Framework for Advanced Motion Control. http://www.mech.kuleuven.ac.be/~bruyninc
[99] J. Denavit, R. S. Hartenberg. A Kinematic Notation for Lower-Pair Mechanisims Based on Matrices. Journal of Applied Mechanics, June, 1995:215~221
[100]黄心汉. PUMA560机器人及运动学方程.电气自动化, 1986, 5:16~21
[101]胡建元,黄心汉. Movemaster-EX机械手运动学方程.电气自动化, 1991, 2:23~26
[102]谭建成.电机控制专用集成电路.北京:机械工业出版社, 1997.
[103] K. M. Smith, Lai Zh. A New PWM Controller with One-Cycle Response. IEEE Transaction on Power Electronics, 1999, 14(1): 142~150
[104] Chang Qian, Zhengming Zhao, Yunfeng Liu, Xigen Zhou. Comparisons of PWM and one-cycle control for digital power amplifiers. Proceedings of PIEMC Third Int. Conf., China, 2000, Vol.3:1176~1180
[105]陈伯时.电力拖动自动控制系统(第二版).北京:机械工业出版社, 1999.
[106]孙志刚,马文光,朱德森.基于80C196KC的交流伺服电机控制卡的开发与应用.机械与电子, 1999, (3):22~23
[107]唐义良,王心远,邹道元.基于PSD技术的控制器两片硬件设计.测控技术, 1999, (3):48~50
[108]富历新,董春,金远强.基于ASIC的四轴步进电机运动控制器.微特电机, 1998, (4):35~36
[109]富历新,董春,相欣..基于PC总线的四轴电机运动控制器.电气传动, 1998,(5):35~37
[110]陆渭林.步进电机微机控制卡的研制.声学与电子工程, 1999, (2):34~39
[111]胡建华,廖文和,周儒荣..基于DSP的数控系统的设计研究.机械设计与制造工程, 1999, (1):34~35
[112]齐宝华.一种基于DSP的机器人控制器.电子技术应用, 1996, (2):10~12
[113]许春山,曹广益. DSP在机器人高精度伺服系统中的应用.计算机工程, 2002, 28(3):199~201
[114] P. Rocco. Stability of PID control for industrial robot arms. IEEE Tans. on Robot Automation, 1996, 12(4):606~614
[115]陈启军,王月娟,陈辉堂.基于PD控制的机器人轨迹跟踪性能研究与比较. 2003, 18(1):53~57
[116]刘金琨.先进PID控制MATLAB仿真(第二版).北京:电子工业出版社, 2004: 47~51
[117] H. S. Park, H. S. Cho. On the dynamic characteristics of a redesigned robot. Robotica, 1991, (9):93~98
[118] H. Kazerooni, S. Kim. A new architecture for direct drive robots. Proceedings of the 1988 IEEE Int. Conf. On Robotics and Automation, Philadelphia, PA, August, 1988, 1:442~445
[119] J. P. Huissoon, D. Wang. On the design of a direct drive 5-bar-linkage manipulator. Robotica, 1991, (9):441~446
[120] M. Takegaki, S. Arimoto. A new feedback method for dynamic control of manipulators. ASME Journal of Dynamic Systems, Measurement and Control, 1981, 102(2):119~125
[121]吴方向,周宗锡,龚诚.具有简单重力补偿的机械手反馈控制.机械科学与技术, 2001, 20(3):336~337/345
[122] P. Tomei. Adaptive PD Controller for Robot Manipulators. IEEE Trans. on Robotics and Automation, 1991, 7(4):565~570
[123] R. Kelly. Comments on“Adaptive PD Controller for Robot Manipulators”. EEE Trans. on Robotics and Automation, 1991, 9(1):117~119
[124] Shahram Tafazoli, Peter D. Lawrence, S. E. Salcudean. Identification of Inertial and Friction Parameters for Excavator Arms. IEEE Trans. on Robotics and Automation, 1999, 15(5):966~971
[125] S. Tafazoli, P. D. Lawrence, S. E. Salcudean et al. Prameter Estimation and Actuator Friction Analysis for a Mini Excavator. Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota,Apr. 1996:329~334
[126]尤剑君.机器人离线编程系统的研究:[硕士学位论文].南京理工大学, 2001.
[127] ChuXin Chen, Mohan M. Trivedi, and Clint R. Bidlack. Simulation and animation of sensor-driven robots. IEEE Transaction on Robotics and Automation, 1994, Vol.10(5): 684~704
[128]戴文进,刘静.机器人离线编程系统.世界科技研究与发展, 2003, 25(3): 69~72
[129] H. J. Warnecke. Computer graphics planning of industrial robot application. Proceedings of 3rd symposium on the Theory and Practice of Robotics and Manipulators, Italy, 1978:100~120
[130] W. B. Heginbothan. Computer graphics simulation of industrial robot interactions. Proceedings of the 7th ISIR, 1980:298~310
[131] D. P. Alam. Geometric modeling: a contribution towards intelligent robots. The 13th symposium on Robots and Robotics, 1983, (1):1313~1325
[132] T. L. Welch. Evaluation robotics system through simulation. The 13th symposium on Robots and Robotics, 1983, (1):1341~1348
[133] M. L. Hornick, B. Ravani. Computer-aided Off-line Planning and Programming of Robot Motion. Int. J. of Robotics Research, 1986, 4(4):18~31
[134] R. Speed. Offline Programming for Industrial Robots. The 17th Int. Symposium on Industrial Robots, 1987:21~23
[135] R. O. Buchal. Simulated Off-line Programming of Welding Robots. Int. J. of Robotics Research, 1989, 8(3):31~43
[136] D. J. Miller, R. C. Lennox. An object-oriented environment for robot system architecture. IEEE Control Systems Magazine, 1991, 11(2):14~23
[137] B. Ravani. World Modelling for CAD Based Robot Program and Simulation. CAD Based Programming for Sensory Robots, Springer-verlag, Berlin Heidenberg, 1988:67~89
[138] L. Levals. WADE: An Object-oriented Environment for Modelling and Simulation of Workcell Application. IEEE Trans. on Robotics and Automation, 1989, 5(3):324~336
[139]何汉武,熊有伦,胡汉桥等.一个基于微机的机器人离线编程系统.华中理工大学学报, 1992, 20(5):39~45
[140]何广忠,杨胜群,吴林等. ACADOLP机器人弧焊离线编程系统中的设备建模.焊接学报, 2004, Vol.25(1):99~102
[141]徐国桦,徐毓良,沈家正. CAD/CG在机器人离线编程中的应用.计算机辅助设计与图形学学报, 1996, Vol.8(2):149~154
[142]王克鸿,刘永,徐越兰等. AWOPS系统几何造型及仿真通讯的研究.机械设计与制造, 2001, Vol.30(6):57~61
[143]隋清.基于图形的机器人工作单元设计、仿真、离线编程与基于行为的机器人感知控制的研究:[博士学位论文].中国科学院自动化研究所, 1994.
[144]赵东坡,熊有伦.机器人离线编程系统的研究.机器人, 1997, 19(4):314~320
[145] Z. S. Roth, B. W. Mooring, B. Ravani. An over view of robot calibration. IEEE J. of Robotics and Automation, 1987, RA-3(5):377~384
[146] W. K. Veitschegger, C. H. Wu. Robot calibration and compensation. IEEE J. of Robotics and Automation, 1988, 4(6):643~656
[147] G. R. Tang, S. S. Yeh, L. S. Liu. Automatic kinematics calibration with electronic micrometers. Int. J. of Robotics and Automation, 1994, 7(4):144~151
[148] Boyer Metal. An Object-oriented Paradigm for the Design and Implementation of Robot Planning and Programming System. Proc. of IEEE Int. Conf. on Robotics and Automation, SacraMento, California, 1991:204~209
[149]赵东坡,熊有伦.面向对象机器人离线编程系统的设计准则.机器人, 1997, 19(6):401~406
[150]向世明. OpenGL编程与实例.北京:电子工业出版社, 1999:6~10
[151] Mark Segal, Kurt Akeley. The OpenGL Graphics System: A Specification (Version 1.2). Silicon Graphics, Inc., Mar. 23, 1998:9~11
[152] S. Cameron. Collision Detection by Four Dimensional Intersection Testing. IEEE Trans. on Robotics & Automation, 1990, 6(3):291~302
[153] Harry H. Cheng. Real Time Four Dimensional Collision Detection for an Industrial Robot Manipulator. Journal of Applied Mechanisms & Robotics, Vol.2, No.2, April,1995:20~33
[154] M. D. S. Aliyu, K. S. Al-Sultan. Fast collision detection in four-dimensional space. European Journal of Operational Research, 1999, (114):437~445
[155] Leonidas J. Guibas, Feng Xie, Li Zhang. Kinetic Collision Detection: Algorithms and Experiments. Proceedings of the IEEE Int. Conf. on Robotics & Automation, Seoul, Korea, May 21-26, 2001:2903~2910
[156] Julien Basch, Jeff Erickson, Leonidas J. Guibas et al. Kinetic collision detection between two simple polygons. Computational Geometry, 2004, (27):211–235
[157]范昭炜.实时碰撞检测技术研究:[博士论文].浙江大学, 2003.
[158]王兆其.虚拟环境中物体运动逼真性的研究:[博士论文].北京航空航天大学, 1999.
[159]李学庆.凸体碰撞检测问题的研究:[博士论文].山东大学, 2002.
[160] P. Jime Hnez, F. Thomas, C. Torras. 3D collision detection: a survey. Computers & Graphics, 2001, (25):269~285
[161] Ming C. Lin, John F. Canny. A fast algorithm for incremental Distance Calculation. Proceedings of the IEEE Int. Conf. on Robotics and Automation, Sacramento, California, Apr 1991:1008~1014
[162] Ming C. Lin. Efficient Collision Detection for Animation and Robotics: [Ph.D. Thesis]. University of California, Berkeley, 1993.
[163] J. Cohen, M. C. Lin, D. Manocha et al. I-collide: An interactive and exact collision detection system for large-scale environments. Proceedings of ACM Interactive 3D Graphics Conference, 1995:189~196
[164]王吉连,熊有伦.机器人传感器的仿真.机器人, 1994, 16(4):250~256
[165] M. Huck, J. Raczkowsky. Sensor simulation in robot application. Advanced Robotics Programming Workshop on Manipulators, Sensors and Steps Towards Mobility, 1987:196~209
[166] Ruixiang Wu. Simulation of a robotic tactile sensor using computer graphics. Proceedings of the 1989 ASME International Computers in Engineer Conference and Exposition, Anheim, CA, USA, 1989:81~91
[167]王军.多传感器机器人控制结构及相关技术研究:[博士学位论文].华中理工大学, 1997.
[168] R. C. Luo, M. G. Kay. Multisensor Integration and Fusion in Intelligent Systems. IEEE Trans. on Systems, Man and Cybernetics, 1989, 19(5):901~931
[169] R. C. Luo, M. G. Kay. A Tutorial on Multisensor Integration and Fusion. The 16th Annual Conference of IEEE Industrial Electronics Society(IECON’90), 1990, 1:707~722
[170] P. K. Varshney. Multisensor data fusion. Electronics & Communication Engineering Journal, 1997, 9(6): 245~253
[171] R. C. Luo, Min-Hsiung Lin, R. S. Scherp. Dynamic multi-sensor data fusion system for intelligent robots, IEEE Journal of Robotics Automation, 1988, 14(4):386~396
[172] J. C. Person, J. J. Gelfand, W. E. Sullivan et al. Neural network approach to sensory fusion. Proceedings of SPIE, 1988, 931:103~108
[173] P. K. Allen. A framework for implementing multi-sensor robotic tasks. Proceedings of ASME International Computer in Engr. Conf. And Exhibition, 1987:303~309
[174] T. Henderson, E. Schicrat. Logical sensor system. Journal of Robotic Systems, 1984, 1(2):169~193
[175] T. Henderson, E. Schicrat, C. Hansen. A fault tolerant sensor scheme. Proceedingsof 7th International Conference on Pattern Recognition, Montreal, PQ, Canada, 1984:663~665
[176] T. Henderson, E. Schicrat, B. Bhanu. A framework for distributed sensing and control. Proceedings of 9th International Joint Conference on Artificial Intelligence, Los Angeles, CA, USA, 1985:1106~1109
[177] J. S. Albus. Outline for a theory of intelligence. IEEE Transactions on Systems, Man and Cybernetics, 1991, 21(3):473~509
[178] A. Meystel. Intelligent control in robotics. Journal of Robotic Systems, 1988, 5(4):269~308
[179] Rodney A. Brooks. Intelligence without representation. Artificial Intelligence, 1991, 47(1-3):139~159
[180] Rodney A. Brooks. A robust layered control system for a mobile robot. IEEE Journal of Robotics and Automation, 1986, RA-2(1):14~23
[181] Byeong-Soon Ryu, Hyun Seung Yang. Integration of reactive behaviors and enhanced topological map for robust mobile robot navigation. IEEE Transactions on Systems, Man and Cybernetics-Part A: Systems and Humans, 1999, 29(5):474~485
[182] J. del R. Millan. Reinforcement learning of goal-directed obstacle avoiding reaction strategies in an autonomous mobile robot, Robotics and Autonomous Systems, 1995, 15(4):275~299
[183] Giuseppe Beccari, Stefano Caselli, Monica Reggiani et al. A real-time library for the design of hybrid robot control architecture. Proceedings of the 1998 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Victoria, Canada, Oct. 1998:1145~1150
[184] Reid G. Simmos. Structured control for autonomous robot. IEEE Transactions on Robotics and Automation, 1994, 10(1):34~43
[185] B. Hayes-Roth, R. Washington, R. Hewett et al. Intelligent monitoring and control. Proceedings of International Joint Conference on AI, Detroit, MI, 1989:243~249
[186] D. W. Payton, J. K. Rosenblatt, D. M. Keirsey. Plan guided reaction. IEEE Transactions on Systems, Man and Cybernetic 1990, 20(6):1370~1382
[187] J. Yen, N. Pfluger. A Fuzzy Logic Based Extension to Payton and Rosenblatts Command Fusion Method for Mobile Robot Navigation. IEEE Transactions on Systems, Man and Cybernetics, 1992, 25(6):971~978
[188]黄心汉,胡建元,吴隆安.机器人腕力传感器自动标定的方法.自动化仪表, 1992, 13(6):6~10
[189]黄心汉.机器人腕力传感器标定矩阵的解.电气自动化, 1989, 3:48~50
[190]胡建元.机器人力控制和顺应控制研究:[博士学位论文].华中理工大学, 1991.
[191]彭刚.基于网络的遥操作机器人系统的关键技术研究:[博士学位论文].华中科技大学, 2002.
[192]熊春山.基于数据融合的多传感器机器人控制技术研究:[博士学位论文].华中理工大学, 2000.