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An analytical solution for inverse kinematic of 7-DOF redundant manipulators with offset-wrist

An analytical solution for inverse kinematic of 7-DOF redund...

引用

2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Yu, Chao Jin, Minghe Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

A valid analytical inverse kinematics computation for seven-degree-of- freedom (7-DOF) redundant manipulators with offset-wrist is proposed. The method uses a virtual joint to replace the join offset from the wrist, and forms a virtual manipulator with a sphere-wrist. Assuming that the virtual manipulator and the real manipulator's joint angles keep the same all the time, the virtual manipulator seems to be driven by the real manipulator;meanwhile, the real manipulator seems to be driven by the virtual manipulator. There is an interesting relationship between these two manipulators: the pose of the virtual manipulator can be calculated if the pose and the 7th joint's angle of the real manipulator are given. It means that the virtual manipulator is driven to the calculated pose when the real manipulator moves to the given pose with the given 7th joint angle, meanwhile, the real manipulator will be driven to the to the given pose when the virtual manipulator moves to the calculated pose with the given 7th joint angle. Then the inverse kinematic solutions of real manipulator can be obtained through solving the inverse kinematic problems of virtual manipulator with a known 7th joint angle. They share the same solutions. In this paper, the manipulators' configuration is analyzed and the virtual joint method and its detailed solution processes were given. Lastly the method is verified by kinematic simulations. The results show that the virtual joint method behaves high precision in solving the inverse kinematic of 7-DOF redundant manipulator with offset-wrist. © 2012 ieee.

关键词： Inverse kinematics

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A simulation method of soft tissue cutting with haptics

A simulation method of soft tissue cutting with haptics

引用

2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Yan, Zhiyuan Wu, Dongmei Huang, Yingying Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Simulation of soft tissue cutting is a problem. For proposing an effective simulation method, a surgery simulation system is put forward, and a double thread software system which contains graphics thread and equipment thread is built in the research. And ball-spring model is used as the internal physical model of the surgery object to realize the force feedback and the deformation. And then a surface model associated with the physical model is built. Based on the physical model and the surface mesh, an effective cutting algorithm is put forward. The simulation results proved that the proposed calculation model can effectively achieve the real-time cutting interaction and deformation of soft tissue, and real-time force feedback can be acquired. In conclusion, the model proposed can realize the simulation of the soft tissue cutting process. © 2012 ieee.

关键词： Deformation

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Stiffness analysis and modal analysis of precision parallel manipulator with flexure hinge

Stiffness analysis and modal analysis of precision parallel ...

引用

2012 2nd International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2012

作者： Rong, Weibin Luan, Yuliang Qi, Limin Xie, Hui Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467345897

According to a 3-PPSR flexible parallel manipulator with specific structure, through theoretical calculation and finite element analysis of the whole robot, stiffness analysis and modal analysis were made and it was obtained the inherent frequency and vibration mode, which can effectively avoid the occurrence of resonance. © 2012 ieee.

关键词： Modal analysis

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Design of a coordinated control strategy for multi-mobile-manipulator cooperative teleoperation system

Design of a coordinated control strategy for multi-mobile-ma...

引用

2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Yan, Jihong Zhao, Jie Yang, Chen Zhu, Yanhe Ma, Liang Chen, Zhifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

The Multi-operator multi-mobile-manipulator (MOM3) teleoperation system is built and several operators located in different places can control the multiple manipulators to collaborate with each other via network. It takes advantage of mobility, cooperation, distribution, which enhance the ability of the system to fit into more complex task. Time delay and dynamic interaction between multi-operator and multi-robot deteriorates its performance. Considering these influence, the human-robot intelligence shared control strategy is proposed to improve performance of the system, which combines the humanrobot intelligence from the master side and slave side respectively. At the master side, the virtual guide can guide or restrict the operators' action, which realizes efficient collaboration and improves the operation accuracy. At the slave side, the coordinated controller fuses operators' commands with force/torque information obtained from corresponding sensors, and achieves expected coordinated control by adjusting coordinated factor. A cooperative task experiment to simulate the dangerous environment is carried out by three operators and mobile-manipulator. Results demonstrate the validity of the strategy proposed. © 2012 ieee.

关键词： Remote control

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Design and optimization of a haptic manipulator using series-parallel mechanism

Design and optimization of a haptic manipulator using series...

引用

2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Li, Yong Yan, Zhiyuan Wang, Hongmin Du, Zhijiang Zhang, Yuchun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9781467312776

This paper presents design and optimization of an 8-DOF haptic manipulator using series-parallel mechanism. Parallel mechanism is designed to control 3-DOF translation input parameters and transfer the feedback force to the operator. Series mechanism is a 4-DOF quadruple-axial concurrent redundant mechanism, controlling three orientation angles. Forward and inverse kinematic analyses have been performed and the jacobian matrix is derived. Operating performance indexes such as global conditioning index, global kinematic performance fluctuant index and workspaces are evaluated to find optimal parameters in design stage. © 2012 ieee.

关键词： Manipulators

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Kinematics analysis and flexible hinge analysis of 3-PPSR precision parallel manipulator

Kinematics analysis and flexible hinge analysis of 3-PPSR pr...

引用

2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Rong, Weibin Luan, Yuliang Qi, Limin Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

According to the working environment of precise micro-operation parallel robot, the designation and analysis on the kinematics model of 3-PPSR parallel mechanism which was based on flexible hinge was obtained. Simultaneously, the influence of flexible hinge on the position accuracy and stiffness of mechanism was analyzed which may promote the application of control terminal. © 2012 ieee.

关键词： Kinematics

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A high performance FPGA-based joint controller with hardware/software co-design method

A high performance FPGA-based joint controller with hardware...

引用

2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Zhang, Qi Xie, Zongwu Ni, Fenglei Cai, Hegao Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

This work presents studies on application and implementation on the field programmable gate array (FPGA) technology into a robot joint controller in order to improve the tracking performance. The controller can be divided into two parts and designed with software and hardware separately. The first part is developed in Nios II embedded processor which is used to realize the velocity and torque control in C language. The second part is to implement the current vector control which includes coordinate transformation, PI controller, SVPWM (Space Vector Pulse Width Modulation) and some other function modules in Hardware Description Language (HDL). The two parts are integrated in the system-on-a-Programmable-Chip (SoPC) developing environment. Experiments on a PMSM are done and the results demonstrate the effectiveness and correctness of the proposed FPGA-based controller. Joint friction parameters can be estimated by the proposed controller with velocity and current control. Consequently, the controller is applied on a robotic manipulator together with DSP to verify the high performance. © 2012 ieee.

关键词： Controllers

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Simulation of a piezoelectric micro-jet generator for high viscosity

Simulation of a piezoelectric micro-jet generator for high v...

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2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Liu, Junkao Leng, Yue Chen, Weishan Shi, Shengjun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Considering the active-feed lubrication for moving mechanical assemblies in the spacecraft, a kind of piezoelectric micro-droplet ejection generator for high viscosity liquid is proposed. In order to acquire the displacement-time curve of the centre of the metal film, the finite element analysis software ANSYS was used to analyze the driven part of the generator. The curve was fitted using Fourier series and the differentiated equation was obtained as the initial condition for the analysis of gas-liquid two-phase flow. The multi-phase computational fluid dynamics (CFD) software was used to analyze the droplet ejection process in order to obtain the influence of the pulse voltage amplitude, the minimum thickness of the flexible hinge, the dynamic viscosity of the lubricant and the nozzle diameter on the ejection parameters. The numerical simulation results showed that the generator can effectively achieve the controllable ejection of high viscosity liquid. Along with the pulse voltage amplitude increasing, the break up time decreased, but the length and velocity of the droplet increased. As the minimum thickness of the flexible hinge and dynamic viscosity increased, the break up time, the length and velocity of the droplet decreased. The nozzle diameter also had an important effect on the ejection parameters. As the nozzle diameter increased, the break up time increased, but the droplet length and velocity decreased. © 2012 ieee.

关键词： Two phase flow

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Control of a biped walking with dynamic balance

Control of a biped walking with dynamic balance

引用

2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Liu, Guocai Li, Mantian Guo, Wei Cai, Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Human can walk agilely because of their dynamic balance. In this article, we develop a simple algorithm to control bipedal walking with active balance. The robot can reach its expected velocity by controlling stance leg length and can maintain dynamic balance by selecting suitable swing direction. We test our control algorithm in a simulation environment. The tests show that the robot can follow the given velocity, endure external disturbance from front and rear direction, and walk on the uneven or ramp ground. This control algorithm can be used to develop bipedal robot or humanoid robot. © 2012 ieee.

关键词： Anthropomorphic robots

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A bilateral control method for surgical robots

A bilateral control method for surgical robots

引用

2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Du, Zhijiang Liu, Ziwen Wang, Hongmin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9781467312776

This paper discusses the bilateral control method for surgical robots. By analyzing the features of surgical operations, independence relationship of all the variables involved in a surgical robot system is determined. Considering the intelligence and motion coordination of human neural system, a causality diagram of the integrated system including the operator and environment is presented. Moreover, a control scheme of F-P structure based on disturbance observer is proposed according to the features of surgical robots, i.e. using velocity as the input signal, demanding high transparency and low frequency property. Finally, the stability and transparency of the proposed scheme are discussed, which is also compared with another low frequency transparency method by numerical simulation. The simulation results show the effectiveness of the proposed control scheme. © 2012 ieee.

关键词： Robotic surgery

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