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作者： Wang, Ke Zhao, Lijun Li, Ruifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 210096 China

ISBN: (纸本)9789881725592

Towards complex indoor environment, this paper proposed a fusion method of sequential Mb-ICP scan matching for mobile robot map building. We firstly introduce the classic ICP scan matching method and its limitations for dealing with robot rotation. Based on a new metric space, Mb-ICP scan matching approach is analyzed. We then use Kalman Filter to fuse multiple sequential scan matching results of Mb-ICP. Experimental results are shown to validate the effectiveness of the proposed approach. © 2011 Chinese Assoc of Automati.

关键词： Mobile robots

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Complex indoor map building based on fusion of sequential Mb-ICP

Complex indoor map building based on fusion of sequential Mb...

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Chinese Control Conference (CCC)

作者： Ke Wang Lijun Zhao Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 210096 China

关键词： Buildings Iterative closest point algorithm Mobile robots Electronic mail Fuses Laboratories

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DESIGN OF A FINGER-TIP FLEXIBLE TACTILE SENSOR FOR DEXTEROUS ROBOT HAND AND THE CROSSTALK EFFECT ANALYSIS

DESIGN OF A FINGER-TIP FLEXIBLE TACTILE SENSOR FOR DEXTEROUS...

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The 2011 International Conference on Mechanical Engineering and technology

作者： Yuanfei Zhang Yiwei Liu Hong Liu Yue Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Robotics and Mechatronics German Aerospace Center DLR College of Electromechanical Engineering China University of Petroleum

In this study, a structure of a thin and flexible tactile sensor using pressure conductive rubber is presented. The sensor can cover specific three-dimensional surface, has a total of 36 elements and can measure the pressure in the range 0-600 k Pa, approximately. In order to compare the performance of the voltage feedback methods and the zero potential method, which presented in the literature are applied to weaken the crosstalk effect in a resistive array, some simple circuits are structured based on these methods, respectively. Then the effect of some circuit parameters on measurement errors of each circuit is simulated and analyzed and the performance of the circuits to weaken the crosstalk effect is compared. According to the simulation results, the performance of the circuit based on the voltage feedback non-scanned-sampling-electrode method is the best than any others. Therefore, a tactile signal acquiring and processing circuit based on this method is design. At last, experimental results that the crosstalk affects the measurement errors of this circuit are given.

关键词： Dexterous robot hand Tactile sensor Crosstalk

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Design and implementation of complete coverage strategy for autonomous mobile robot

Design and implementation of complete coverage strategy for ...

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作者： Wang, Fei Wen, Shiguang Wu, Chengdong Guo, Liang State Key Laboratory of Integrated Automation for Process Industries Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9789881725592

A general scheme of complete coverage for mobile robot under unknown static environment is presented. The complete coverage problem is divided into three subproblems called region decomposition, complete coverage of subregion and subregion linking seperately. Boustrophedon decomposition method was used to decompose the region, and roundabout sweeping with forward steering combining with stream function for obstacles avoidance were adopted to complete coverage of subregion. The subregion linking was realized by point stabilization based on fuzzy logic control. Simulated coverage experiments were conducted under different conditions in Microsoft robotics Studio and simulation results demonstrate the effectiveness and robustness of the proposed scheme. © 2011 Chinese Assoc of Automati.

关键词： Mobile robots

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Servo system of 6 DOF Electro-hydraulic Shaking Table

Servo System of 6 DOF Electro-hydraulic Shaking Table

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2011 3rd International Asia Conference on Informatics in Control, Automation and robotics (CAR 2011 LNEE 132)

作者： Liyi Yin Zhengmao Ye Gang Shen Junwei Han State Key Laboratory of Robotics and System School of Mechatronics EngineeringHarbin Institute of Technology School of Mechanical and Electrical Engineering China University of Mining and Technology

Electro-hydraulic shaking table(EHST) is a useful experimental apparatus to real-time replicate the desired acceleration vibration signal for evaluating the performance of the tested specimen structural systems. A three axis six degree-of-freedom(DOF) EHST system with eight hydraulic actuators is presented in the paper. A decouple control method is employed to lower the acceleration couple among the six DOF. The procedure of the decouple controller is programmed in MATLAB/Simulink, and then compiled to a realtime PC with Microsoft Visual *** for implementation. The experimental results demonstrate that a better tracking performance with the improved servo controller is achieved in experiments by using actual EHST.

关键词： Electro-hydraulic shaking table,decouple control,identification

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Study of Thrust Lever Control Loading system in Flight Simulator

Study of Thrust Lever Control Loading System in Flight Simul...

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2011 3rd International Asia Conference on Informatics in Control, Automation and robotics (CAR 2011 LNEE 132)

作者： Jinsong Zhao Zhengmao Ye Gang Shen Junwei Han State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology School of Mechanical and Electrical Engineering China University of Mining and Technology

Aiming at computing the force feel to be simulated at real time, thrust lever control loading system's simulation model is set by software called Sim Mechanics after its control mechanism being analyzed. The dynamic characteristics of control systems and model torque are studied based on the simulation model. Then the counter potential, primary element to cause the surplus torque, is pointed out according to the dynamic characteristics of control. To make the loading system not only flow the model torque precisely but also retrain surplus torque effectively, the low frequency of the current loop is designed due to frequency spectrum of counter potential and follow-up component in model torque, while the medium frequency is on basis of the step component in model torque. Finally, the reasonableness of the designed current loop is verified by computer simulation of the torque output by motor and loading torque.

关键词： Flight simulator Control Loading system thrust lever current loop simulation model

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Modeling and analysis of a high acceleration and precision linear motor direct drive motion stage with bond graph approach

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Jiqiren/Robot 2011年第4期33卷 467-474页

作者： Sun, Lining Li, Teng Liu, Yanjie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

According to the characteristics of high acceleration and precision linear motor direct drive motion stage, global coupling dynamic modeling and analysis are performed in a wide bandwidth. The bond graph approach is used to build the global coupling dynamic model of motion stage, in which electrical parts, mechanical parts, flexible connection, and nonlinear friction in the system are considered. Based on the model, the influence of motor mechanical time constant, electrical time constant, friction and bolted connection on the system response performance are analyzed by Matlab/Simulink simulation language. The proposed model and analysis results reflect the basic features of this stage and influencing factors that can be ignored or need to be considered in system analysis and control. It lays a foundation for motor selection, system construction, trajectory planning and control algorithms design.

关键词： Linear motors

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Motion Planning Algorithms of Redundant Manipulators Based on Self-motion Manifolds

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Chinese Journal of Mechanical Engineering 2010年第1期23卷 80-87页

作者： YAO Yufeng ZHAO Jianwen HUANG Bo State Key Laboratory of Robotics Technique and System Harbin Institute of Technology Harbin 150081 China

The current motion planning approaches for redundant manipulators mainly includes two categories： improved gradient-projection method and some other efficiency numerical methods. The former is excessively sensitive to parameters, which makes adjustment difficult; and the latter treats the motion planning as general task by ignoring the particularity, which has good universal property but reduces the solving speed for on-line real-time planning. In this paper, a novel stepwise solution based on self-motion manifold is proposed for motion planning of redundant manipulators, namely, the chief tasks and secondary tasks are implemented step by step. Firstly, the posture tracking of end-effector is achieved accurately by employing the non-redundant joint. Secondly, the end-effector is set to keep stationary. Finally, self-motion of manipulator is realized via additional work on the gradient of redundant joint displacement. To verify this solution, experiments of round obstacle avoiding are carried out via the planar 3 degree-of-~eedom manipulator. And the experimental results indicate that this motion planning algorithm can effectively achieve obstacle avoiding and posture tracking of the end-effector. Compared with traditional gradient projection method, this approach can accelerate the problem-solving process, and is more applicable to obstacle avoiding and other additional work in displacement level.

关键词： redundant manipulators self-motion motion planning inverse kinematics

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A novel optimal calibration algorithm on a dexterous 6 DOF serial robot-with the optimization of measurement poses number

A novel optimal calibration algorithm on a dexterous 6 DOF s...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Kui Sun Tian Li Yue Jin Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin 150001 Chi College of Electromechanical Engineering China University of Petroleum Dongying 266555 China Institute of Robotics and Mechatronics German Aerospace Center DLR 82230 Wessling Germany

Normally, people always believe that the more measurement poses used in a robot calibration process, the more accurate result can be obtained. However, the accuracy improvement converges to a threshold after a number of measurement poses. Moreover, robot calibration is a time consuming process, too many poses would seriously complicate the process and consumedly increase the spending time. In this paper, an optimal measurement pose number searching method was proposed to improve the calibration method in time spending aspect. Optimal robot poses were added to an initial pose set one by one to establish a new pose set for the robot calibration. The root mean squares (RMS) of the end-effector pose errors after being calibrated by using these pose sets were calculated. The optimal number of the configuration set which correspond to the least RMS of pose error can then be obtained. This algorithm can get higher end-effector accuracy, meanwhile consume less time. The simulation on a serial robot manipulator with 24 unknown kinematic parameters shows that the end-effector pose accuracy after calibrated by the using of the optimal pose set is much better than the result before calibration, and is better than the using of a random pose set.

关键词： Kinematics Robots Calibration Joints Observability Jacobian matrices Indexes

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Self-configuring quick bp neural network and its application to parallel robot's forward kinematics solution

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ICIC Express Letters, Part B: Applications 2011年第4期2卷 959-966页

作者： Zhang, Shihui Kong, Lingfu State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 West Da-Zhi Street Harbin 150001 China College of Information Science and Engineering Yanshan University No. 438 West Hebei Street Qinhuangdao 066004 China

The learning algorithm for self-configuring quick BP neural network is proposed in this paper. It makes the number of hidden nodes more reasonable by merging or deleting hidden nodes in the same layer of the initial quick BP network model, and consequently overcomes the limitation in determining the number of hidden nodes only depending on experiments in the past. In addition, it also attains the goal to optimize network structure and improve network performance. As examples, the self-configuring quick BP neural network is applied to forward kinematics solution of parallel robot. The experimental results show the proposed method not only can guarantee calculation precision but also has advantages of less calculation amount and quick speed, which benefits to the real time control for parallel robot. © 2011 ISSN 2185-2766.

关键词： Real time control

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