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A Light Space Manipulator with High Load-to-Weight Ratio: system Development and Compliance Control

Space(Science & Technology) 2021年第1期2021卷 107-118页

作者： Zhiwei Wu Yongting Chen Wenfu Xu The School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In order to meet the requirements of the space environment for the lightweight and load capacity of the manipulator,this paper designs a lightweight space manipulator with a weight of 9.23 kg and a load of 2 *** adopts the EtherCAT communication protocol and has the characteristics of high load-to-weight *** order to achieve constant force tracking under the condition of unknown environmental parameters,an integral adaptive admittance control method is *** control law is expressed as a third-order linear system equation,the operating environment is equivalent to a spring model,and the control error transfer function is *** control performance under the step response is further *** simulation results show that the proposed integral adaptive admittance control method has better performance than the traditional *** has no steady-state error,overcomes the problems caused by nonlinear discrete compensation,and can facilitate analysis in the frequency domain,realize parameter optimization,and improve calculation accuracy.

关键词： overcome load EtherCAT

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An Analytical Trajectory Planning Method for Underactuated Overhead Cranes with Constraints 33

An Analytical Trajectory Planning Method for Underactuated O...

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第三十三届中国控制会议

作者： WU Xianqing HE Xiongxiong SUN Ning College of Information Engineering Zhejiang University of Technology Institute of Robotics and Automatic Information System Nankai University

ISBN: (纸本)9781479947249

In this paper, an analytical acceleration trajectory planning approach with constraints is proposed for underactuated overhead cranes. The allowable maximum velocity and acceleration of the physical system are taken into account, the payload swing is guaranteed to be under the preset amplitude during movement, and the transportation time can be estimated in ***, by solving the inhomogeneous differential equation of the kinematic model, we analyze the coupling behavior of the cart motion and the payload swing, and provide the analytical expression between the payload swing and the cart acceleration. Subsequently, an analytical acceleration trajectory is proposed by introducing some smooth functions into the existing three-segment acceleration trajectory. The performance of the proposed trajectory is proven by rigorous mathematical *** simulation results are included to demonstrate the effectiveness of the proposed motion planning method.

关键词： Overhead Crane,Trajectory Planning,Underactuated system

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HIT-Hawk and HIT-Phoenix: Two kinds of flapping-wing flying robotic birds with wingspans beyond 2 meters

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Biomimetic Intelligence & robotics 2021年第1期1卷 13-25页

作者： Erzhen Pan Hui Xu Han Yuan Jianqing Peng Wenfu Xu The School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Inspired by large and medium-sized birds,two kinds of flapping-wing flying robots with wingspans beyond 2 meters were *** have the appearance of a hawk and a phoenix respectively,so they are called HIT-Hawk and *** this paper,the bionic concept,theoretical analysis,design and manufacturing are introduced in ***,the flight principle and characteristics of large and medium-sized birds were ***,the aerodynamics was modeled based on the thin airfoil theory,and the main design basis was ***,the mechanical structures of HIT-Hawk and HIT-Phoenix were designed to ensure the lateral and longitudinal stability and have optimized flight ***,an autonomous flight control method was proposed and realized in highly integrated on-onboard controller;it satisfies the strict restrictions on mass,size,power and ***,the prototypes were fabricated and verified through practical flight *** wingspans of these two flapping wing aircrafts are 2.0 m and 2.3 m respectively,the take-off weights are 1.15 kg and 0.86 kg,and the maximum stable endurance is 65 min(with battery of 3S LiPo,4300 mAh)and 8 min(with battery of 3S LiPo,800 mAh).Their wind resistance can both reach level *** with the small and micro flapping-wing aerial vehicles that mimic insects or small birds,they both have strong load capacity,strong wind resistance and long endurance.

关键词： Bionic robots Flapping-wing flying Unmanned aerial vehicle Robotic bird

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SPECULAR SURFACE INSPECTION USING STRUCTURED HIGHLIGHT AND GAUSSIAN IMAGES

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1990年第2期6卷 208-218页

作者： NAYAR, SK SANDERSON, AC WEISS, LE SIMON, DA Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Electrical Computer and System Engineering Rensselaer Polytechnic Institute Troy NY USA Robotics Inst. Carnegie-Mellon Univ. Pittsburgh PA USA

The structured highlight inspection method uses an array of point sources to illuminate a specular object surface. The point sources are scanned, and highlights on the object surface resulting from each source are used to derive local surface orientation information. The extended Gaussian image (EGI) is obtained by placing at each point on a Gaussian sphere a mass proportional to the area of elements on the object surface that have a specific orientation. The EGI summarizes shape properties of the object surface and can be efficiently calculated from structured highlight data without surface reconstruction. Features of the estimated EGI including areas, moments, principal axes, homogeneity measures, and polygonality can be used as the basis for classification and inspection. The structured highlight inspection system (SHINY) has been implemented using a hemisphere of 127 point sources. The SHINY system uses a binary coding scheme to make the scanning of point sources efficient. Experiments have used the SHINY system and EGI features for the inspection and classification of surface-mounted-solder joints.< >

关键词： Inspection Surface reconstruction Image reconstruction Soldering Cameras Robots Feature extraction Optical reflection Shape measurement Area measurement

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Architecture and Control Simulation for Improved system Resiliency of a Building Microgrid 59

Architecture and Control Simulation for Improved System Resi...

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59th IEEE/IAS Industrial and Commercial Power systems Technical Conference, I and CPS 2023

作者： Correia, Alexandre F. M. Lopes, Jose M. B. Coimbra, A. Paulo Moura, Pedro de Almeida, Anibal T. University of Coimbra Institute of System and Robotics Department of Electrical and Computer Engineering Coimbra Portugal

ISBN: (纸本)9798350396515

The increasing frequency of natural disasters has led to situations where small towns and critical infrastructure, become isolated from the main utility grid. The microgrids' ability to work autonomously from the utility grid presents a viable solution to this problem. Microgrid resiliency is the characteristic related to the capacity of a microgrid to minimize the impact of disruptive events and ensure that the power supply is maintained under a variety of adverse conditions. This is specially important for critical infrastructures such as hospitals, communications and military bases. The objective of this paper is to simulate strategies and propose an algorithm for the design and management of electric microgrids with a focus on resiliency towards critical and disaster situations. The proposed solutions will be simulated, using a building microgrid implemented in the University of Coimbra as a pilot. As a result of the work, the study presents an algorithm that efficiently manages loads of a microgrid in order to increase its resilience when the microgrid is isolated from the utility grid. © 2023 IEEE.

关键词： Smart power grids

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Area-oriented coordinated trajectory planning of dual-arm space robot for capturing a tumbling target

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Chinese Journal of Aeronautics 2019年第9期32卷 2151-2163页

作者： Wenfu XU Lei YAN Zhonghua HU Bin LIANG School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Department of Automation Tsinghua UniversityBeijing 100084China

The growing amount of space debris poses a threat to operational spacecraft and the long-term sustainability of activities in outer space. According to the orbital mechanics, an uncontrolled space object will be tumbling, bringing great challenge to capture and remove it. In this paper, a dual-arm coordinated ‘‘Area-Oriented Capture'(AOC) method is proposed to capture a non-cooperative tumbling target. Firstly, the motion equation of the tumbling target is established, based on which, the dynamic properties are analyzed. Then, the ‘‘Area-Oriented Capture'concept is presented to deal with the problem of large pose(position and attitude) deviation and tumbling motion. An area rather than fixed points/devices is taken as the object to be tracked and captured. As long as the manipulators’ end-effectors move to a specified range of the objective areas(not fixed points on the target, but areas), the target satellite will be hugged by the two *** last, the proposed method and the traditional method(i.e. fixed-point oriented capture method)are compared and analyzed through simulation. The results show that the proposed method has larger pose tolerance and takes shorter time for capturing a tumbling target.

关键词： Area-oriented capture Dual-arm coordination Space debris removal Space robot Tumbling target capturing

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Development of a cable-driven redundant space manipulator with large bending angle by combining quaternion joints and segmented coupled linkages mechanism

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Chinese Journal of Aeronautics 2023年第11期36卷 483-499页

作者： Taiwei YANG Jian HUANG Wenfu XU Ke SHAO Bin LIANG School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Department of Automation Tsinghua UniversityBeijing 100854China

A cable-driven redundant manipulator has significant potential in confined space applications, such as environmental exploration, equipment monitoring, or maintenance. A traditional design requires 3N driving motors/cables to supply 2N degrees of freedom(DOF) movement *** number of motors is 1.5 times that of the joints’ DOF, increasing the hardware cost and the complexity of the kinematics, dynamics, and control. This study develops a novel redundant space manipulator with decoupled cable-driven joints and segmented linkages. It is a 1680 mm continuum manipulator with eight DOF, consisting of four segmented linkages driven by eight motors/pairs of cables. Each segment has two equivalent DOF, which are realized by four quaternion joints synchronously driven by two linkage cables. The linkage cables of adjacent joints are symmetrically decoupled and offset at 180°. This design allows equal-angle movement of all the joints of each segment. Moreover, each decoupling driving mechanism is designed based on a pulley block composed of two fixed and movable pulleys. The two movable pulleys realize the opposite but equidistant motions of the two driving cables, i.e., pulling and loosening, assuring symmetrical movements of the two driving cables of each segment. Consequently, the equivalent 2N-DOF joints are driven only by 2N motors, significantly reducing the hardware cost and simplifying the mapping relationship between the motor angle/cable length and the joint angle. Furthermore, the bending range of each segment could reach 360°, which is three times that of a traditional design. Finally, a prototype has been developed and experimented with to verify the performance of the proposed mechanism and the corresponding algorithms.

关键词： Cable-driven Mechanism design Redundant manipulators Segmented linkages Kinematics

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Architecture and Operational Control for Resilient Microgrids 60

Architecture and Operational Control for Resilient Microgrid...

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60th IEEE/IAS Industrial and Commercial Power systems Technical Conference, I and CPS 2024

作者： Correia, Alexandre F. M. Cavaleiro, Miguel Neves, Miguel Coimbra, A. Paulo Almeida, Tony R. O. Moura, Pedro De Almeida, Aníbal T. University of Coimbra Institute of System and Robotics Department of Electrical and Computer Engineering Coimbra Portugal

ISBN: (纸本)9798350345308

The increasing frequency of natural disasters has led to situations in which small urban centers and critical infrastructures become isolated from the main utility grid. The microgrids' ability to work autonomously from the utility grid presents a viable solution to this problem. Microgrid resiliency is the characteristic related to the capacity of a microgrid to minimize the impact of disruptive events and ensure that the power supply is maintained under a variety of adverse conditions. This is especially important for critical infrastructures such as hospitals, communications, computer networks and military bases. The objective of this paper is to simulate strategies and propose an algorithm for the design and management of electric microgrids with a focus on resiliency towards critical and disaster situations. The proposed solutions were validated, using an experimental microgrid implemented at the University of Coimbra as a pilot. As a result of the work, the study presents an algorithm that efficiently manages loads of a microgrid, including automatic islanding operation, in order to increase its resilience when the microgrid is isolated from the utility grid. © 2024 IEEE.

关键词： Smart power grids

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A geometric method based on space arc for pose-configuration simultaneous planning of segmented hyper-redundant manipulators

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Science China(Technological Sciences) 2021年第11期64卷 2389-2407页

作者： HU ZhongHua YUAN Han XU WenFu YANG TaiWei LIU TianLiang LIANG Bin School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory^of Robotics and System Harbin Institute of TechnologyHarbin 150001China Department of Automation Tsinghua UniversityBeijing 100084China

A segmented hyper-redundant manipulator can perform complicated operation tasks in a confined space due to its high flexibility and dexterity. However, the trajectory planning in a narrow space and obstacles environment is very challenging for the manipulator. In this paper, we propose a geometry method to simultaneously plan the end-effector pose and manipulator’s configuration. Firstly, the geometries of each segment are described by an inscribed arc(IA) and a circumscribed arc(CA). Then,the whole kinematics chain is considered as an inscribed curve(IC) or a circumscribed curve(CC) which are composed of multiple IAs or CAs. Furthermore, the IC and CC of the manipulator are divided into multiple spatial single-arc and double-arc groups according to requirements. The pose-configuration simultaneous planning is realized by the spatial single-arc/double-arc modeling and joints angles solving. By numerical iteration, the spatial arcs’ parameters are determined according to desired pose and boundary condition of obstacle avoidance. The angles of joints are analytically solved when the above parameters are known. Finally, a narrow space detection task is simulated and experimented respectively. The results verify the proposed method.

关键词： segmented hyper-redundant manipulator pose-configuration simultaneous planning spatial arc modeling obstacle avoidance geometric planning

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Event trigger based nonlinear flight control for a small size unmanned helicopter 41

Event trigger based nonlinear flight control for a small siz...

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第41届中国控制会议

作者： Xun Gu Bin Xian Xu Zhang The institute of Robotics and Autonomous System School of Electrical and Information EngineeringTianjin University School of Electronic and Communication Engineering Guiyang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Compared with the traditional periodic control methodology,the event trigger based control strategy is an advanced control strategy to make optimal utilization of resources while remaining the control performance at the same *** this paper,the limited on board computing resource is considered,and the event trigger based nonlinear control strategy is proposed for a small size unmanned helicopter under the effect of the unknown external *** stability of the control strategy is proved via the Lyapunov based analysis,and the effectiveness of the proposed control strategy is verified via the numerical simulation The simulation results show that the proposed event trigger based control strategy has a good attitude tracking performance under the effect of the unknown external disturbances while reducing the computing resources greatly.

关键词： event trigger nonlinear controller unmanned helicopter numerical simulation

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