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International Conference on Industrial and Information systems, IIS

作者： Pu, Jialun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424482177

On-orbit autonomous assembly is a solution of building large space structures, these structures are lager than any current or proposed launch vehicles and should be launch as several separate parts. To assembly these parts, using multi-robot systems are a fair way. Due to the space environment and complexity structures, on-orbit assembly is different to other tasks. For the actual application of the on-orbit autonomous assembly, the modeling of the multi-robot system is introduced. The model is a hierarchical multi-robot system, and top-down design method is used in whole design. © 2010 IEEE.

关键词： Multipurpose robots

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FPGA-based control system for 6-UPS medical parallel robot

FPGA-based control system for 6-UPS medical parallel robot

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International Conference on Digital Manufacturing and Automation

作者： Wu, Dongmei Du, Zhijiang Tian, Heqiang Jiang, Zhenyu Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9780769542867

In this paper, a high-performance control system based on field programmable gate arrays (FPGAs) for a 6-UPS medical parallel robot is present. The control system utilizes the hardware and software reconfigurable feature of the advanced FPGA device to achieve our goal. Firstly, the parallel robot and its control system components and functions are introduced. Secondly, the control system general description including its hardware is given. Thirdly, NIOS II soft core processor module, HALL module, PWM signal module, DC motor drive module, encoder signal processing module, and the soft-core software are designed in detail. All the modules can be duplicated and reconfigured to control as many motors as needed. Finally, to estimate the control system, a driving test based on RS232 is carried out. Satisfactory test results demonstrate that the FPGA-based control system is a flexible, high-performance solution to the motion control of our 6-UPS medical parallel robot. © 2010 IEEE.

关键词： Control systems

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Mechanical principle and design of bionic snake mouth

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and technology) 2011年第SUPPL. 1期42卷 478-482页

作者： Liu, Zi-Juan Fei, Jian Fu, Zhuang Yan, Wei-Xin Zhao, Yan-Zheng State Key Laboratory of Mechanical System and Vibration Shanghai Jiaotong University Shanghai 200240 China Ruijin Hospital Affiliated School of Medicine Shanghai Jiaotong University Shanghai 200240 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

To realize open bite and swallows movements of the snake mouth. Bionic snake mouth mechanism was designed based on the anatomy of snake mouth and the combination of bionics and engineering, and the motion of snake mouth was divided into three basic movements. Mechanism kinematic analysis was made and linkage parameters were determined for implementing the motion of snake mouth. Then the virtual model was made and the desired motion was realized.

关键词： Bionics

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A force feedback master finger in exoskeleton type

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High technology Letters 2010年第3期16卷 299-305页

作者： Fang Honggen Liu Hong Xie Zongwu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P.R. China Institute of Robotics and Mechatronic German Aerospace Center Wessling DLR 82230 Germany

In order to eliminate the drawbacks of conventional force feedback gloves, a new type of master fin- ger has been developed. By utilizing three ＂four-bar mechanism joint＂ in series and wire coupling mecha- nism, the master finger transmission ratio is kept exactly 1：1.4：1 in the whole movement range and it can make active motions in both extension and flexion directions. Additionally, to assure faster data transmission and near zero delay in the master-slave operation, a digital signal processing/field programmable gate array （DSP/FPGA-FPGA） structure with 200μs cycle time is designed. The operating modes of the master finger can be contact or non-contact, which depends on the motion states of a slave finger, free motion or constrained motion. The position control employed in non-contact mode ensures unconstrained motion and the force control adopted in contact mode guarantees natural contact sensation. To evaluate the performances of the master finger, an experiment between the master finger and a DLR/HTT dexterous finger is conducted. The results demonstrate that this new type master finger can augment telepresence.

关键词： force feedback master finger digital signal processing （DSP） field programmable gate array （FPGA） telepresence

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Teleoperation system of internet-based multi-operator multi-mobile- manipulator

Teleoperation system of internet-based multi-operator multi-...

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International Conference on Electrical and Control Engineering, ICECE 2010

作者： Ma, Liang Yan, Jihong Zhao, Jie Chen, Zhifeng Cai, Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology 150080 Harbin China

ISBN: (纸本)9780769540313

A teleoperation system of Internet-based Multi-Operator Multi-Mobile-Manipulator is proposed in this paper. The system consists of master sides and slave side, which has the characteristics of mobility, cooperation, distribution, fault tolerance, redundancy etc. In master sides, with the aid of Distributed Virtual Environment and multi-video image, operators use the haptic interface device to control the remote robots via Internet. The 9-DOF mobile-manipulators which combine the mobility of the omnidirectional mobile plat and the manipulability of the manipulator are located in the slave side. Modules of ultrasonic location and ultrasonic/infrared distance measurement are arranged on the mobile-manipulators, and six-axis force sensors are fixed on the wrist of mobile-manipulators. Six video cameras are installed in slave side to provide the operators multi-video image. A network server collects the information of the sensors by WLAN and sends them to operators through net. With the aid of real-time multi-video image and feedbacks, operators could control the robots to complete the task. Finally, the effectiveness of the teleoperation system is illustrated by experiments that the operators control the robots to complete the role of delivering and transporting via Internet, and achieve loose coordination, mobile tight coordination and operated tight coordination teleoperation. © 2010 IEEE.

关键词： Remote control

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Design and primitive study of a cylindrical traveling wave ultrasonic motor using outer excitation

Design and primitive study of a cylindrical traveling wave u...

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2010 International Symposium on Optomechatronic Technologies, ISOT 2010

作者： Liu, Junkao Shi, Shengjun Chen, Weishan Dong, Huijun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424476848

A cylindrical traveling wave ultrasonic motor using outer excitation of two bending transducers is proposed in this paper. To avoid the drawbacks of conventional traveling wave ultrasonic motors, sandwich structure of PZT elements and d33 mode of PZT are used here. Working principle and design analysis by means of FEM method are detailed. A prototype motor has been fabricated and tested. Although the tested results of output torque was not ideal as compared with desired, the original configuration idea has great potential to obtain strong out put in our further study on it. © 2010 IEEE.

关键词： Piezoelectric motors

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Kinematics and simulations of space manipulator in three work modes

Kinematics and simulations of space manipulator in three wor...

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3rd International Symposium on systems and Control in Aeronautics and Astronautics, ISSCAA2010

作者： Zhang, Fuhai Fu, Yili Yan, Shibo Wang, Shuguo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424460441

In recent years, research on space robotics has attracted considerable attention. Kinematics of the free-flying or free-floating space manipulator system, including a spacecraft and a manipulator mounted on the spacecraft, is a significant problem. In free-floating work mode, the spacecraft will move freely in response to the disturbances caused by the manipulator motions. From the view of application, change of the spacecraft attitude for the space manipulator system is not desirable. Therefore, it is of significance to adopt the free-floating with zero-disturbance spacecraft attitude work mode. This paper presents an overview of the kinematics of the space manipulator system. Position and velocity kinematics solutions in three work modes are analyzed. The kinematics differences among the three work modes are formulated. The simulation results validate the effectiveness of the kinematics solutions in the three work modes. ©2010 IEEE.

关键词： Kinematics

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Investigation of magnetic coupling of phases in a novel transverse flux machine by consideration of self- and mutual- inductance

Investigation of magnetic coupling of phases in a novel tran...

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14th Biennial IEEE Conference on Electromagnetic Field Computation, CEFC2010

作者： Wang, Qian Zou, Jibin Fu, Xinghe Jiang, Xintong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424470594

This paper performs an analysis on the magnetic coupling of phases for a novel transverse flux machine (TFM) by comparison of the values of self- and mutual- inductance. It is shown that the proposed TFM inherits the merit of magnetic decoupling of phases as in traditional TFM, and thus can readily achieve fault-tolerant operation and high-precision control. © 2010 IEEE.

关键词： Magnetic couplings

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Dynamics and a convenient control design approach for a unicycle robot

Dynamics and a convenient control design approach for a unic...

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Zhao, Jie Xiong, Mei Jin, Hongzhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9781424457021

In this paper, the dynamics model and a convenient lateral posture stabilization and longitudinal motion control algorithm of a unicycle robot are presented. The unicycle robot consists of a turntable for lateral posture balance, a cylindrical robot body, and a rolling wheel for longitudinal motion control. The dynamics of the unicycle system is derived using the Lagrangian formulation. In the conventional linearized model, important motion characteristics of the unicycle robot system are ignored, which makes against the control performance. To address this problem, a gain scheduling control method is proposed based on the nonlinear model and implemented by coordination of the separated lateral posture balance control and longitudinal motion control. Through simulation studies, the effectiveness of the proposed control algorithm is verified. ©2010 IEEE.

关键词： Dynamics

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Master-slave control technology research for abdominal minimally invasive surgery robot

Master-slave control technology research for abdominal minim...

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ASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010

作者： Fu, Yili Li, Han Xie, Qi State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9780791844267

According to characteristics of abdominal minimally invasive robotic surgical tasks, based on performant industrial computer platform, an extended multifunctional hardware communicates with PCI-bus is designed, a master-slave control system is studied. In order to solve the problem of low responsivity caused by traditional inverse kinematics transformation method, a algorithm based on equivalent differential transformation suitable for real-time master-slave surgical robot control is put forward, and the accumulated error of the algorithm is eliminated by feedback mechanism. A fast trajectory planning method efficient in real-time master-slave surgical robot control is put forward to replace traditional trajectory prediction and off-line calculation. Finally, in order to avoid the impact on the accuracy of the system coursed by hand-trembling of operators, a digital filter is designed to help filtering the master manipulator signal. Copyright © 2010 by ASME.

关键词： Inverse problems

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