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Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots

Journal of Central South University of technology 2010年第4期17卷 807-815页

作者： Gen-liang Xiong Zong-wu Xie Jian-bin Huang Hong Liu Zai-nan Jiang Kui Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany

A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping method that has “explosion of terms” problem, the new proposed control system is a combination of the dynamic surface control technique and the backstepping. The dynamic surface control (DSC) technique can resolve the “explosion of terms” problem that is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity of the method was proved in the laboratory environment that was set up on the 5-DOF (degree of freedom) flexible joint robot. Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were achieved successfully as depicted theoretically.

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Stable and accurate trajectory control technology for the wafer transfer robot

Stable and accurate trajectory control technology for the wa...

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International Conference on Information and Automation (ICIA)

作者： Yanjie Liu Yong Hu Xiaofei Zheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

During the processing of wafer, in order to avoid the friction between wafer and wafer box, and to guarantee the clean state of the working environment simultaneously, small contour error and little vibration are required for wafer transfer robot to deliver wafer, i.e., to achieve stable and accurate trajectory for wafer delivery. To lessen contour error, suppress vibration, a kind of control algorithm has been proposed in this paper combining cross-coupled synchronized control and input shaping. Via cross-coupled synchronized control, synchronization of the actuating joint can be improved and the contour accuracy can be enhanced; through the shaping of the driving impulses for the shoulder joint and the elbow joint by input shaper, the vibration at the end-effector can be reduced. Based on the experiments verified on the planar joint wafer transfer robot, it shows that the synchronizing and vibration-suppressing performance is excellent by taking advantage of the method covering both cross-coupled synchronized control and input shaping.

关键词： Robot kinematics Vibration control Shape control Error correction Master-slave robotics and automation Friction Trajectory Synchronous motors Robot control

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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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Biennial institute of Electrical and Electronics Engineers Conference on Electomagnetic Field Computation

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

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.

关键词： Phase magnetic coupling Inductance Fault tolerance Transverse machine fine control

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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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International Conference on Information and Automation (ICIA)

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

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.

关键词： Control design Torque control Manipulators Orbital robotics End effectors Field programmable gate arrays Hardware Distributed control Robot sensing systems Feedback

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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...

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International Conference on Information and Automation (ICIA)

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

ISBN: (纸本)9781424457014;9781424457045

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.

关键词： Parallel robots Surgery Bones Prosthetics robotics and automation Design automation Laboratories Jacobian matrices Finite element methods Educational technology

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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...

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International Conference on Information and Automation (ICIA)

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

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.

关键词： Magnetic resonance imaging Humans Neurosurgery Shape robotics and automation Image segmentation Brain mapping Image analysis Anatomy Laboratories

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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...

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International Conference on Information and Automation (ICIA)

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

ISBN: (纸本)9781424457014

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.

关键词： Centralized control Robot control Control systems Legged locomotion Motion control Neurons Neurofeedback Robot kinematics Couplings robotics and automation

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Improvement on obstacle avoiding ability based on laser range finder

Improvement on obstacle avoiding ability based on laser rang...

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International Conference on Mechatronics and Automation

作者： He, Fujun Liu, Xiaolei Du, Zhijiang Ta, Yueyue Daqing Petroleum Institute Daqing Heilongjiang 163318 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China Department of Mechanical Science and Technology Electrical Engineering Department Daqing Petroleum Institute Daqing Heilongjiang 163318 China

ISBN: (纸本)9781424451418

Mobile robot works in complicated environment have to deal with all kinds of obstacles, some obstacles may leave only a narrow way, and some obstacles moves quickly or arbitrarily, such as a child. The robot must improve its ability to quickly sensing the obstacles and tracking their state, and then avoid these obstacle and move to the original goal at the same time by motion planning. To improve the obstacle avoiding ability, a three layers obstacle avoiding policy is adopted to deal with the obstacle in different range. The dangerous obstacles are determined and the sub-goal based avoiding policy is presented. To improve the responding ability to moving object, a tracking model is set up, which takes into account the influence of moving platform. The robot may anticipate the collision possibility, collision time and position from tracking algorithm, and then three obstacle avoiding policy is presented according to the collision estimation. The experiment shows good moving object avoiding result. © 2010 IEEE.

关键词： Motion planning

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Real-time Facial Expressions Recognition system for Service Robot based-on ASM and SVMs

Real-time Facial Expressions Recognition System for Service ...

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The 8th World Congress on Intelligent Control and Automation(第八届智能控制与自动化世界大会 WCICA 2010)

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

A real-time facial expressions recognition system is developed for human-robot interaction of service robot. The proposed system is mainly composed of two subsystems: one for Active shape model(ASM) motion extraction, and one for the classification of the estimated motion. The system first uses a cascade classifier to locate the potential face regions from video frame. Then, ASM is automatically initialized in the candidate regions. Based on the statistical property of deformable ASM, some facial features are extracted by using real-time pyramid ASM fitting method. The geometrical displacement between the estimated ASM feature node coordinates and mean shape of ASM is fed into the recognition subsystem in which, a Support Vector Machines (SVMs) is proposed to classify the calculated landmarks’ relative motion. Experimental results show the potential performance of our facial expressions recognition system.

关键词： Shape Face recognition Face Real time systems Service robots Facial features

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Modeling and simulating the nonlinear characters of robot joints

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

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IEEE International Conference on robotics and Biomimetics

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

ISBN: (纸本)9781424493197

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.

关键词： Friction Solid modeling Joints Hysteresis Mathematical model Robots Force

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