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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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Optical flow based plane detection for mobile robot navigation

Optical flow based plane detection for mobile robot navigati...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Zhongli Wang Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electronic and Information Engineering Beijing Jiaotong University Beijing China

Dominant plane detection is an essential task for an autonomous navigation of mobile robots equipped with a vision system, as we assume that robots move on the dominant plane. In this paper, based on optical flow, the image motions of points which located in a plane were described by planar flow. After the parameters of planar flow are estimated, the distance error of image points can be used for detecting the plane region from monocular image sequence. The proposed method includes three steps. First, the robust optical flow is estimated between two consecutive images from the image sequence. Then a geometry constraint provided by planar flow is applied to detect the plane regions in optical flow. And finally, some iterative procedures can be used for improving the results. Compared with the feature point based method which sometimes is invalid because of the lacking of texture, the optical flow based method can detect the ground plane even if there are not much more image features in the plane region. Some experiments with outdoor images have been conducted.

关键词： Computer vision Image motion analysis Optical imaging Adaptive optics Feature extraction Estimation Optical variables control

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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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Research on state-guided teleoperation assistance method

Research on state-guided teleoperation assistance method

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International Conference on Computer Science and Service system (CSSS)

作者： Xizhe Zang Jie Zhao Qingxin Meng State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang 150080 China School of Mechanical and Electrical Engineering Harbin Engineering University 150001 China

Toward the Internet-based robotic tasks, a state-guided teleoperation assistance method is presented. According to this method, the whole task can be identified into several states to direct the execution of teleoperation, through state definition, state recognition and state display. After building up an Internet-based teleoperation system centered on data fusion, the remote manipulations of medical treatment are accomplished finally. The experiment demonstrates that introduction of the assistance method alleviates the difficulties such as network time-delay effectively and operation efficiency, improving the global capacity of system.

关键词： Robots Grippers Sensor fusion Sensor systems Force

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Development of a novel robotic catheter system for endovascular minimally invasive surgery

Development of a novel robotic catheter system for endovascu...

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ieee/ICME International Conference on Complex Medical Engineering, CME

作者： Yili Fu Anzhu Gao Hao Liu Kai Li Zhaoguang Liang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China First Clinical College Harbin Medical University Harbin Heilongjiang China

Utilizing catheters with unchangeable distal tip, traditional endovascular minimally invasive surgery is manually performed by surgeons present in an operating room filled with X-ray radiation. It has many disadvantages, such as poor maneuverability, radiation injury and undesirable interactivity. Thus it is difficult to guarantee the safety and efficiency. In order to improve these limitations, this paper develops a novel robotic catheter system with master-slave control, including the steerable catheter integrated with two magnetic tracking sensors, interventional mechanisms with force feedback and 3D guiding image with the collision test. The results demonstrate that the constructed system can reduce the usage of X-rays; surgeons can be located in the control room away from the operating room in the master-slave way; catheterization can be performed successfully and safely to the target point with high maneuverability.

关键词： Surgery X-ray imaging Sensors Hospitals Robots Wheels

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Dynamic simulation and gravity balancing optimization of spot welding robot based on RecurDyn

Dynamic simulation and gravity balancing optimization of spo...

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2011 ieee International Conference Mechatronics and Automation(2011 ieee机电一体化与自动化国际会议)

作者： Ping-Chun Xie Yu-Xian Gai Yan-Shen Wang Lian-Zheng Ge Department of Mechanical Engineering Harbin Institute of Technology at Weihai Weihai Shandong Provi State Key Laboratory of Robotics and System School of Mechatronics Harbin Institute of Technology Ha

Driving torques of a specific type of spot welding robot was simulated in RecurDyn, which provided useful information for motor selecting and gravity balancing. According to D-H parameters of the robot parts of the robot were modeled separately and then assembled to form the robot, in Pro/Engineer. Imported into RecurDyn and adding necessary constraints, the virtual prototype of the robot was constructed in RcurDyn for dynamic simulation. Time dependent torque variations of every joint were got by simulation, which facilitated motor selection. The spring for sustaining the gravity of robots links was also optimized through the simulation analysis of torques in Joint 2.

关键词： robot dynamic simulation RecurDyn gravity balance spring

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Forward kinematics analysis of parallel manipulator using modified global Newton-Raphson method

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Journal of Central South University 2010年第6期17卷 1264-1270页

作者：杨炽夫郑淑涛靳军朱思斌韩俊伟 State Key Laboratory of Robotics and System Har bin Institute of Technology

In order to obtain direct solutions of parallel manipulator without divergence in real time,a modified global Newton-Raphson(MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom(DOF) parallel *** on geometrical frame of parallel manipulator,the highly nonlinear equations of kinematics were derived using analytical *** MGNR algorithm was developed for the nonlinear equations based on Tailor expansion and Newton-Raphson *** procedure of MGNR algorithm was programmed in Matlab/Simulink and compiled to a real-time computer with Microsoft visual *** for *** performance of the MGNR algorithms for 6-DOF parallel manipulator was analyzed and *** the MGNR algorithm,the real generalized pose of moving platform is solved by using the set of given positions of *** theoretical analysis and numerical results indicate that the presented method can achieve the numerical convergent solution in less than 1 ms with high accuracy(1×10-9 m in linear motion and 1×10-9 rad in angular motion),even the initial guess value is far from the root.

关键词： parallel manipulator forward kinematics global Newton-Raphson real-time system

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Scheme design of extended configuration for in-pipe robot adapting mechanism

Scheme design of extended configuration for in-pipe robot ad...

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International Conference on Measuring Technology and Mechatronics Automation

作者： Chen, Jun Chen, Tao Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 15001 China School of Naval Architecture Harbin Institute of Technology at Weihai Weihai Shandong 264209 China Linyi Entry-Exit Inspection and Quarantine Bureau Linyi Shandong 276034 China School of Mechtronic Engineering Harbin Institute of Technology Harbin Heilongjiang 15001 China

ISBN: (纸本)9780769542966

The configuration design of in-pipe robot adapting mechanism has a significant impact on its motion performance. By analyzing the operation principle and structure composition of adapting mechanism, the four-bar linkage is chosen as basic unit to make topological combination, the two kinds of linkage combination including input of prismatic pair are presented, the configuration schemes that meet the given design constraints are also synthesized, and the application examples of specific mechanisms are given. Which provides a new method for configuration extended design of in-pipe robot adapting mechanism. © 2011 ieee.

关键词： Topology

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Design method of modular units for articulated in-pipe robot inspecting system

Design method of modular units for articulated in-pipe robot...

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2011 2nd International Conference on Digital Manufacturing and Automation, ICDMA 2011

ISBN: (纸本)9780769544557

A novel untethered autonomous motor driven in-pipe robot inspecting system has been designed in order to solve the internal defect inspection for long-distance pipeLine. Which includes motor driven traction robot and other multiple cyLindrical box modular units, the adjacent units are Linked by double hook joints and by three extended supporting wheels contacting the inner surface of pipe elastically to form the articulated multi-body system. Based on the virtual prototype technology, by means of the relations of structure and size for modular units and its connectors, to research the determine method of structure size meeting the needs of in-pipe robot inspecting system moved in elbow pipe. The method proposed this paper has been used in the design of engineering prototype, and whose structure size and mechanics performance have been proved can achieve the design indexes. © 2011 ieee.

关键词： Machine design

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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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