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Kinematics and Error Analysis of Single Motor Driving Multi-Stage Metamorphic Mechanism

IOP Conference Series: Materials Science and Engineering 2019年第5期677卷

作者： Zhuang Ge Leichao Xie Shangkui Yang Shuyun Zhu Yongzhan Cao Yuwang Liu School of Mechanical Engineering and Automation Northeastern University Shenyang Liaoning China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Liaoning China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang Liaoning China Information and Control Engineering Faculty Shenyang Jianzhu University Shenyang Liaoning China

Traditional series robots have the disadvantages of complex structure and complicated control. Almost all of them have no adaptive ability. Although soft robots have good adaptive characteristics, they also have the limitations of poor bearing capacity and low stiffness. In addition, their motion trajectory and motion precision are difficult to achieve accurate control. In order to solve the above problems, based on a single motor-driving multi-stage metamorphic mechanism, this paper carries out kinematic analysis and error analysis to determine the motion trajectory and motion accuracy of the multi-stage metamorphic mechanism. And this paper uses ADAMS to carry out simulation calculation. Comparing the theoretical calculation results and simulation calculation results, and determining the errors between the multi-stage metamorphic mechanisms, so as to ensure the accurate position of the multi-stage metamorphic mechanism during work. The multi-stage metamorphic mechanism realizes stable and efficient work.

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Design of Ant Colony Optimization Simulation Platform Based On MATLAB GUI

Design of Ant Colony Optimization Simulation Platform Based ...

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2017 2nd International Conference on Materials Science,Machinery and Energy Engineering(MSMEE 2017)

作者： Mengxin Li Hongshuang Hu Yong Jiang Guanhua Feng School of Information & Control Engineering Shenyang Jianzu University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences School of Mechanical Engineering Shenyang Ligong University

In this paper, a novel ant colony optimization(ACO) simulation platform is developed by MATLAB/GUI toolbox to solve traveling salesman problem(TSP). The modular design concept is applied to divide platform into four main modules. The function modules are designed by using MATLAB/GUI toolbox. The development, implementation and test of the designed ACO simulation platform are particularly introduced. The test process and results show that the function of the designed ACO simulation platform can be implemented by importing exiting map and its coordinates or setting coordinates manually;besides, when setting parameters, they can be changed arbitrarily in the range of prompt message. The proposed platform can effectively solve the TSP and find the optimal path.

关键词： design ant colony optimization MATLAB/GUI

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A unified leader-follower scheme for mobile robots with uncalibrated on-board camera

A unified leader-follower scheme for mobile robots with unca...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Dejun Guo Hesheng Wang Weidong Chen Ming Liu Zeyang Xia Kam K. Leang DARC (Design Automation Robotics & Control) Lab University of Utah Robotics Center Salt Lake City Utah USA State Key Laboratory of Robotics and System (HIT) Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University Shanghai China Department of Electronics and Computer Engineering Hong Kong University of Science and Technology Hong Kong China Institute of Biomedical and Health Engineering Chinese Academy of Sciences Shenzhen China

This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.

关键词： Cameras Robot vision systems Kinematics Mobile robots Calibration Automation

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3D Environment Modeling with Height Dimension Reduction and Path Planning for UAV

3D Environment Modeling with Height Dimension Reduction and ...

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2017 9th International Conference on Modelling, Identification and control (ICMIC 2017)

作者： Zhe Lv Liying Yang Yuqing He Zhong Liu Zhonghua Han the State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences the Faculty of Information and Control Engineering Shenyang Jianzhu University Faculty of Information and Control Engineering Shenyang Jianzhu University Shenyang Institute of Automation Chinese Academy of Sciences

In this paper,an environment modeling method with height dimension reduction for unmanned aerial vehicle(UAV) path planning is *** on the traditional grid method,a plane being vertical to yz-plane and including the start point and end point is considered in this *** the height of this plane and obstacles,the environment model could be set up through re-dividing the plane by grid *** idea reduces the dimension of the 3 D environment model and ignores the obstacles which are lower than the flying height of *** this way,the accuracy of the proposed environment model method could be increased,and the efficiency of the path planning algorithm could be ensured *** experiment shows the effectiveness of this environment modeling method by applying A* algorithm for path planning.

关键词： Environment modeling Path planning Grid method A* algorithm

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control 5.0: From Newton to Merton in Popper's Cyber-Social-Physical Spaces

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IEEE/CAA Journal of Automatica Sinica 2016年第3期3卷 233-234页

作者： Fei-Yue Wang IEEE State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences (SKL-MCCS CASIA) Research Center of Computational Experiments and Parallel Systems The National University of Defense Technology

The future of control in cyberspace of parallel worlds is discussed. It argues for the coming age of control 5.0,the control technology for the new IT capable of dealing with artificial worlds with VR, AR, AI and robotics. The discipline of automation needs a new interpretation of its core knowledge and skill set of modeling, analysis, and control for cyber-socialphysical systems, and a paradigm shift from Newtonian systems with Newton's Laws or Big Laws with Small Data to Mertonian systems with Merton's Laws or Small Laws with Big Data.

关键词： control 5.0 parallel control knowledge automation CPS CSP CPSS Merton Wiener Popper

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Teleoperation control for Bimanual robots based on RBFNN and Wave Variable

Teleoperation Control for Bimanual robots based on RBFNN and...

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2017 9th International Conference on Modelling, Identification and control (ICMIC 2017)

作者： Xingjian Wang Chenguang Yang Junpei Zhong Rongxin Cui Min Wang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of Technology Zienkiewicz Centre for Computational Engineering Swansea University National Institute of Advanced Industrial Science and Technology School of Marine Science and Technology Northwestern Polytechnical University

In this paper,a dual arm control method in a teleoperation system is *** a bimanual robot,moving a common object precisely requires real-time cooperation between the two *** such conditions the force interaction including the internal forces applied on the object must be taken into *** the dynamics models for master device,slave robot and the object are first *** the presence of the uncertainties in the dynamics model of the remote robot,a neural network method is used for compensation in the slave *** order to guarantee the stability of the teleoperation system,the wave variable approach is employed in the communication *** the controllers in both the master and the slave part are designed based on their dynamics *** the tracking convergence and system stability are proven by the Lyapunov *** simulation experiments are carried out to show the good performance of trajectory tracking and force reflection.

关键词： Bimanual Robot Teleoperation control Wave Variable RBF NN

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Mechatronic Design of a Human Robot Coupling Interface for Teaching by Demonstration

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IFAC-PapersOnLine 2016年第21期49卷 675-680页

作者： Liang P. Yang C. Wang N. Li Z. Li R. State Key Lab of Robotics Systems Harbin Institute of Technology Harbin China Zienkiewicz Centre for Computational Engineering Swansea University Swansea United Kingdom Centre for Robotics and Neural Systems Plymouth University United Kingdom The MOE Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

In this paper, we have developed a mechatronic human-robot coupling interface for kinaesthetic guidance based human robot teaching interface, by integration of a 6-axis force sensor, a coupling mechanism and wearable electromyography (EMG) arrays. Our design aims to transfer human operator's arm kinematics, force as well as human upper limb stiffness estimated from EMG signals to robot manipulators. Experiments have been carried out to test the teaching by demonstration performance of the coupling system in two scenarios: i) human teaching a robot for lifting up task; ii) human-robot skill transfer for one joint motion. Experimental results indicated that the coupling design nearly caused no disturbance to human upper limb stiffness estimation. Moreover, human arm kinematics and force/torque in task space can be transferred to the robot in a natural way with guaranteed safety. This coupling interface design can be easily extended to other robot platforms and has great potentials in application of human robot skill transfer. © 2016

关键词： electromyography (EMG) human robot coupling teaching by demonstration

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Cloud-aided state estimation of a full-car semi-active suspension system

arXiv

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arXiv 2017年

作者： Zhang, Lixian Yin, Xunyuan Shen, Junnan Yu, Haitao Research Institute of Intelligent Control and System Harbin Institute of Technology Harbin150080 China Department of Chemical and Materials Engineering University of Alberta EdmontonT6G 2V2 Canada State Key Laboratory of Robotics and Systems Harbin Institute of Technology 150001 China

In this work, we investigate a state estimation problem for a full-car semi-active suspension system. To account for the complex calculation and optimization problems, a vehicle-to-cloud-to-vehicle (V2C2V) scheme is utilized. Moving horizon estimation is introduced for the state estimation system design. All the optimization problems are solved in a remotely-embedded agent with high computational ability. Measurements and state estimates are transmitted between the vehicle and the remote agent via networked communication channels. The effectiveness of the proposed method is illustrated via a set of simulations. Copyright © 2017, The Authors. All rights reserved.

关键词： state estimation

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Teleoperation control of Baxter Robot based on Human Motion Capture

Teleoperation Control of Baxter Robot based on Human Motion ...

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IEEE International Conference on Information and Automation

作者： Guangzhu Peng Chenguang Yang Yiming Jiang Long Cheng Peidong Liang Key Lab of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781509041039

The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems provide us an alternative approach for motion capture technology. In this paper, based on human kinematics and function approximation technique (FAT), a novel method is presented for the trajectory control of Baxter robot. Each arm of the Baxter robot has seven degrees of freedom. The geometry vector approach is applied to capture human motion trajectory by using Microsoft Kinect sensor. A FAT control system is employed to make the robot follow the trajectory of human motion. The UDP communication protocol is employed to send the reference human joint angle data to the robot. We carry out preliminary experiments on Baxter robot to verify the validity of the control approach and the results demonstrate that the method has achieved satisfactory performance.

关键词： Teleoperation control Baxter Robot Human Motion Capture

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A 6D-ICP approach for 3D reconstruction and motion estimate of unknown and non-cooperative target

A 6D-ICP approach for 3D reconstruction and motion estimate ...

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第28届中国控制与决策会议

作者： Ke Wang Hong Liu Bensheng Guo Yunfeng Gao State Key Laboratory of Robotics and Systems Harbin Institute of Technology

ISBN: (纸本)9781467397155

For on-orbit maintenance and service of space robot,this paper presents a 6D-ICP approach for 3D reconstruction and state estimate of unknown non-cooperative target based on stereo *** flow is applied to target image features tracking in each monocular camera extracted by Harris detector across successive *** features tracked successively in each camera will be matched between two cameras,and corresponding 3D structure points on the targets are generated *** use 6D ICP-based method to estimate the target state and reconstruct 3D target *** experimental results are shown to demonstrate the feasibility of the proposed method.

关键词： space robot 6D-ICP 3D reconstruction unknown non-cooperative target

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