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检索条件"机构=1State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin"

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Dynamics and motion control of a two pendulums driven spherical robot

Dynamics and motion control of a two pendulums driven spheri...

引用

23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and systems, IROS 2010

作者： Zhao, Bo Li, Mantian Yu, Haitao Hu, Haiyan Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424466757

This paper deals with the dynamics and motion control of a spherical robot designed for reconnaissance and unstructured hostile environment exploration. The robot in this paper has three DOFs and two inputs, of which the nature is a nonlinear and underactuated system with nonholonomic dynamic constraints. The improved construction of two pendulums offers novel motion principle of spherical robot, which is moving simultaneously actuated by both eccentric moment and inertial moment generated by the two pendulums. Meanwhile the mobility is enhanced when the robot behaves dynamically. The emphasis is placed on the linear motion and turning in place motion control. The dynamic model of linear motion is formulated on the basis of Lagrange equation, and a smooth trajectory planning method is proposed for linear motion. A feedback controller is constructed to ensure the accurate trajectory planning. Turning in place motion is an indispensable element of omni directional locomotion which can enhance the mobility of spherical robots. The dynamic model of turning in place motion is derived on the theory of moment of momentum, and a stick-slip principle is analyzed. The two motion control methods are validated by both simulations and prototype experiments. ©2010 IEEE.

关键词： Motion control

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Research on a central pattern generator bionic coupling control system of robot

Research on a central pattern generator bionic coupling cont...

引用

2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Wang, Tingting Guo, Wei Zha, Fusheng Li, Mantian State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781424457021

Animal's walking is a complex rhythmic motion that has good celerity, adaptability and stability. Walking is controlled and harmonized by the animal's nerve-muscle control system. The joints are coupling during walking and are regulated by the nerve center. Based on this mechanism, a concept of bionic coupling control system is presented. This system which simulates the integration effect of animal's nerve consists of a central pattern generator (CPG) planner built based on the three local neurons network model of CPG, a forward path of motorneuron and a feedback path. Finally, a simulative experiment is done on a platform of robot leg, and the coupling control of robot leg is realized by a single CPG. ©2010 IEEE.

关键词： Animals

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Automatic localization of AC and PC landmarks in T2-weighted MR volumetric neuroimages

Automatic localization of AC and PC landmarks in T2-weighted...

引用

2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Zhang, Guangcai Fu, Yili Wang, Shuguo Gao, Wenpeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Provinc China

ISBN: (纸本)9781424457021

A novel method is presented for automatic identification of the anterior commissure (AC) and posterior commissure (PC) in T2-weighted MR volumetric images (MRI). AC and PC are two critical landmarks of human brain. It is important to accurately identify them for brain segmentation, registration, functional neurosurgery, human brain mapping, and particularly for the Talairach transformation. The algorithm of identifying them consists of four steps: (1) Identify the corpus callosum and select the region of interest;(2) Identify the fornix and locate the initial AC;(3) Segment part of the third ventricle and locate the initial PC;(4) Refine the positions of AC and PC. The algorithm has been validated quantitatively with 20 T2-weighted MRI data sets. The mean errors of the localization of them were 1.50 mm (AC) and 1.60 mm (PC). It took about 15 seconds for identifying them on P4 3.0 GHz. This fully automatic algorithm is potentially useful in clinic and for research. ©2010 IEEE.

关键词： Brain mapping

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Joint driver and control design for large torque, long arm space remote manipulator

Joint driver and control design for large torque, long arm s...

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Guo, Chuangqiang Ni, Fenglei Sun, Jingting Liu, Yechao Liu, Hong State Key Laboratory of Robotics System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781424457021

This paper presents an overview of the structure and requirements of a ground engineering model for a space remote manipulator system, with long arm and large torque driver capacity. The system consists of a 6 DOFs robot arm composed of six identical modular joints, and a large-error tolerated end effector. A FPGA based joint controller hardware structure is built to form a distributed control scheme of the robot arm, while a fourth-order hybrid controller based on the joint torque feedback is adopted to reduce the influence of joint flexibility, brought by the harmonic drivers and torque sensor, on the control precision. A single-joint control experiment, designed to lift up a load at the tip of a link, about two meters in length, is used to test the ability of trajectory tracking in the gravity field. ©2010 IEEE.

关键词： Controllers

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Real-time hand gesture recognition for service robot

Real-time hand gesture recognition for service robot

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2010 International Conference on Intelligent Computation technology and Automation, ICICTA 2010

作者： Wang, Ke Wang, Li Li, Ruifeng Zhao, Lijun State Key Laboratory and Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China

ISBN: (纸本)9780769540771

A real-time hand gesture recognition system is developed for human-robot interaction of service robot. The proposed system is mainly composed of two subsystems: one for gesture recognition, and the other for the classification of the gesture motion. The system first uses a cascade classifier to locate the potential hand region from video frame. Then, Gabor wavelets transformation is applied to extract the gesture features which are automatically recognized based on a bank of Support Vector Machines (SVMs). For the estimated motion trajectory of each gesture, we make a set of discrete symbols using vector quantization method and, this symbol sequence is fed into the Hidden Markov Model (HMM) in the gesture motion classification subsystem. Experimental results are shown finally. © 2010 IEEE.

关键词： Hidden Markov models

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Design and analysis of a cylindrical traveling wave ultrasonic motor using orthogonal longitudinal composite transducer

Design and analysis of a cylindrical traveling wave ultrason...

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作者： Liu, Ying-Xiang Liu, Jun-Kao Chen, Wei-Shan Shi, Sheng-Jun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 Heilongjiang Province China

A cylindrical type traveling wave ultrasonic motor using orthogonal longitudinal composite transducer is proposed. The composite transducer contains two longitudinal transducers, which are located orthogonal to each other. Each longitudinal transducer includes one exponential horn located on leading end, and the horns insect with each other at tip ends. The composite transducer is attached to the cylinder on its outer surface to excite two degenerate flexural vibration modes spatially and temporally orthogonal to each other in the cylinder. Thus, a flexural traveling wave in the cylinder could be excited. The working principle of proposed motor is analyzed. The stator is designed with FEM. The vibration modals of stator are degenerated. Transient analysis is developed to gain the vibration characteristics of stator, and results indicate that the motion trajectories of nodes on the teeth are ellipses. The results of this paper verify the theoretical feasibility and provide instructions for the development of proposed motor.

关键词： Stators

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Design and analysis of a 6-DOF parallel robot used in artificial cervical disc replacement surgery

Design and analysis of a 6-DOF parallel robot used in artifi...

引用

2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Tian, Heqiang Wu, Dongmei Du, Zhijiang Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province150080 China

ISBN: (纸本)9781424457021

This paper presents the design of a 6-DOF parallel robot used in the artificial cervical disc replacement surgery, which is used to complete positioning and grinding between prosthesis and bone mating surfaces and whose moving platform is connected to the fixed platform by six UPS (Universal - Prismatic-Spherical) serial chains. In the paper, inverse position, a first-order static influence coefficient matrix, Jacobian matrix, and workspace factors are analyzed for the 6-UPS parallel mechanism and the analysis results of statics, singularity and workspace are given, which is used to guide the robot structure design. What's more, the CAD model of the robot is analyzed by finite element methods, which shows that the robot has adequate stiffness. Finally, a comprehensive analysis shows that the 6-UPS parallel robot is suitable for bone mating surfaces grinding in the artificial cervical disc replacement surgery. ©2010 IEEE.

关键词： Finite element method

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A closed-loop intelligent control strategy for precise non-contact liquid dispensing

A closed-loop intelligent control strategy for precise non-c...

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International Conference on Mechatronics and Automation

作者： Liu, Yaxin Yao, Yufeng Chen, Liguo Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Instrument Science and Technology Postdoctoral Mobile Station Harbin Institute of Technology

ISBN: (纸本)9781424451418

In biomedical, chemical and pharmacological areas, thousands of reagents with different viscosities need to be dispensed in submicroliter range. Most of the commercial automated liquid dispensing systems need to be calibrated through experiments to accurately dispense liquids when the reagents viscosities change, which is time consuming and less accurate. In this paper, a precise non-contact closed-loop liquid dispensing system with novel adaptive intelligent control method was developed. First, the non-contact liquid dispensing system construction is introduced. Secondly, a MEMS flow sensor was used for closed-loop control the dispensed volume, and the factors that affect dispensing precision are analyzed. Thirdly, a compound intelligent fuzzy control strategy is proposed to calculate valve open-time for each dispensing cycle, which makes the system immune to liquid viscosity, pressure fluctuation and some other disturbances. Finally, experiments results are presented with different dispensing volumes, coefficient of variance (CV) has been shown to be below 3% at 1μl and approach 4% at 100 nl. © 2010 IEEE.

关键词： Liquids

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Modeling and simulating the nonlinear characters of robot joints

Modeling and simulating the nonlinear characters of robot jo...

引用

2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Xiao, Yongqiang Du, Zhijiang You, Wei Li, Ruifeng School of Mechatronics Engineering State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China

ISBN: (纸本)9781424493173

This paper presents a new approach to establish a dynamic model of robot joints. The model is constructed by ideally dividing a robot joint into high-speed block and low-speed block and described with nonlinear characteristics such as friction, backlash and hysteresis. The friction behavior of two blocks is captured by the Generalized Maxwell-Slip model. The Preisach model is used to describe the hysteresis character of joints. Because the "congruency" assumption of hysteresis, which is needed in the Preisach model, is not strictly tenable in complex joints, so there construct the hysteresis model through Preisach model plus a nonlinear stiffness. A simple and effective method is developed to model the backlash behavior in joints. The integrated joint model of an industry robot built by our laboratory is established and simulation model is constructed in Simulink of Matlab. The validity of this model is demonstrated and a new avenue opened in this way. © 2010 IEEE.

关键词： Hysteresis

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Active control of adhesion force for pick-and-place of micro objects with compound vibration in micromanipulation

Active control of adhesion force for pick-and-place of micro...

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2010 IEEE International Conference on Automation Science and Engineering, CASE 2010

作者： Chen, Liguo Chen, Tao Sun, Lining Rong, Weibin Shao, Bing Yang, Qing State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin 150080 China Robotics and Microsystems Center Soochow University Suzhou 215021 China

ISBN: (纸本)9781424454471

Due to scale effects, the reliable pick-and-place manipulation of micro objects has been still a long-standing challenge in scientific and technological field. This paper presents an active method to manipulate microobjects, which employs inertia force and compound vibration to overcome adhesion forces. The compound vibration comes from electrostatic actuator and piezoelectrically driven microactuator. A micromanipulation system is set up to test and verify the proposed method. The system consists of a microgripper and a piezoelectric ceramics module. Surface and bulk micromachining technology is employed to fabricate the microgripper used in the system from a single crystal silicon wafer. Theoretical analyses were conducted to understand the release principle. Experiments were carried out through the manipulation of 30-80μm polystyrene spheres under an optical microscope. Experimental results show that this method can achieve a repeatability of 100% with releasing accuracy of 4μm, and is substrate independent. Based on this preliminary study, the system prove to be an effective solution for the active pick-and-place manipulation of microobjects. © 2010 IEEE.

关键词： MEMS

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