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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011

作者： Liu, Yanjie Wu, Mingyue Xu, Guobao Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781457707223

The rapid development of the Integrated Circuit (IC) manufacturing equipment industry requires greater efficiency for wafer transfer. However, the faster wafer transfer robot moves, the bigger the force applied on its support frame is, and also the bigger vibration aroused on the frame because of the low stiffness of the support frame. Meanwhile, some IC equipment are ultra-high sensitive to the vibration. So the speed of the wafer transfer robot is limited by the vibration of the frame In order to improve wafer transmission efficiency and synchronously reduce the vibration to the frame, in this paper, the rigid-flexible coupled dynamic model of wafer transfer robot was built, and then the vibration analysis of the robot on its support frame was discussed. After that the trajectory planning was used to suppress the force applied on the frame to reduce the vibration of the frame. Finally, the experiment system was built. The result shows that the vibration of the frame, while keeping the robot transmission efficiency, was clearly suppressed by using the bi-axis interpolation trajectory control. © 2011 IEEE.

关键词： Vibration analysis

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Frication compensation and disturbance observer design for a high acceleration precision direct drive motion stage

Frication compensation and disturbance observer design for a...

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3rd IEEE International Conference on Advanced Computer Control, ICACC 2011

作者： Li, Teng Liu, Yanjie Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424488087

Friction compensation and disturbance observer design in velocity loop for a high acceleration precision motion stage actuated by linear motor is considered. The friction compensator divides the friction into linear and nonlinear part basing on LuGre model, linear part is treated as damping together with other part in system, and nonlinear part is compensated basing on the model. Internal state z in LuGre model is calculated according model and position real time instead of using state observer, which can reduce calculation and as far as possible to ensure the precision of friction model. The disturbance observer proposed here account for time delay in system which caused by discrete sampling, signal process, transport distance, and so on. Simulation results demonstrate the effectiveness of the approach. © 2011 IEEE.

关键词： Linear motors

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Virtual space painting system based on transparency haptic interaction

Virtual space painting system based on transparency haptic i...

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International Conference on Consumer Electronics, Communications and Networks

作者： Yanhe, Zhu Jizhuang, Fan Xindan, Cui Jie, Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781612844572

The traditional drawing system based on the 2-D mouse can not realize the haptic interaction between operators and virtual environment. This is not available for operator to feel the interaction sensitivity. A virtual space painting system based on transparency haptic interaction is proposed. This system uses the admittance type haptic device as the information interaction interface between operators and virtual environment. This paper presents an implicit force control algorithm to adapt the control of the transparency haptic interaction device. This system use the body contact detection, the virtual force generation and smoothness to build the virtual environment. Finally, a virtual painting experiment is done. The result shows that this system could improve the transparency of the haptic interaction. It means that the real artistic creation could be realized on the computer. © 2011 IEEE.

关键词： Virtual reality

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Initial design of a biomimetic cuttlefish robot actuated by SMA wires

Initial design of a biomimetic cuttlefish robot actuated by ...

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International Conference on Measuring Technology and Mechatronics Automation

作者： Wang, Yangwei Wang, Zhenlong Li, Jian State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9780769542966

This article describes the initial design of a biomimetic cuttlefish robot. The robot has a similar streamlined shape as cuttlefish, propelled by the complex of the biomimetic undulatory level pectoral fin and the waterjetting. Firstly, the morphology and swimming theory of cuttlefish is analyzed. Secondly, the overall structure of the biomimetic cuttlefish robot is designed and the threedimensional model is simulated by software FLUENT. Finally, the biomimetic level pectoral fin and the biomimetic mantle actuated by SMA wires are designed. The propulsive thrust and the propulsive efficiency are analyzed. The results show that the robot has good hydrodynamic performance, can achieve slow swimming speed with high efficiency by the level pectoral fin. When the swimming speed is 0.18 m/s, the propulsive fore is 0.047 N, the propulsive efficiency is 89 %. It can also achieve high swimming speed relying on jetting propulsion. The maximum propulsive force is 0.79 N and the maximum swimming speed is above 0.6 m/s, the propulsive efficiency is 31 %. © 2011 IEEE.

关键词： Shape memory effect

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Research on locomotive evolution based on worm-shaped configuration of self-reconfigurable robot HitMSR II

Research on locomotive evolution based on worm-shaped config...

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2011 International Conference on Electric and Electronics, EEIC 2011

作者： Zhu, Yanhe Wang, Xiaolu Cui, Xindan Yin, Jingchun Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9783642217463

In this paper, we constructed a three-dimensional dynamic simulator for HitMSR II which is a module self-reconfigurable robot system composed of single-rotational-freedom modules. Downhill Simplex Optimization Algorithm were used to evolve the locomotion of the robot ensuring that it is possible to get access to the relatively more optimized locomotion gaits parameters after large enough numbers of iterative calculations under a certain evaluation function. What's more. We selected worm-shaped configuration to research on the validation of locomotive evolution both in simulation and experiment. © Springer-Verlag Berlin Heidelberg 2011.

关键词： Iterative methods

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Robust Iterated Sigma Point FastSLAM Algorithm for Mobile Robot Simultaneous Localization and Mapping

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Chinese Journal of Mechanical Engineering 2011年第4期24卷 693-700页

作者： SONG Yu SONG Yongduan LI Qingling Center for Intelligent System and Renewable Energy Beijing Jiaotong University Beijing 100044 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Institute of Automation Chinese Academy of Sciences Beijing 100190 China

Simultaneous localization and mapping （SLAM） is a key technology for mobile robots operating under unknown environment. While FastSLAM algorithm is a popular solution to the SLAM problem, it suffers from two major drawbacks： one is particle set degeneracy due to lack of observation information in proposal distribution design of the particle filter; the other is errors accumulation caused by linearization of the nonlinear robot motion model and the nonlinear environment observation model. For the purpose of overcoming the above problems, a new iterated sigma point FastSLAM （ISP-FastSLAM） algorithm is proposed. The main contribution of the algorithm lies in the utilization of iterated sigma point Kalman filter （ISPKF）, which minimizes statistical linearization error through Gaussian-Newton iteration, to design an optimal proposal distribution of the particle filter and to estimate the environment landmarks. On the basis of Rao-Blackwellized particle filter, the proposed ISP-FastSLAM algorithm is comprised by two main parts： in the first part, an iterated sigma point particle filter （ISPPF） to localize the robot is proposed, in which the proposal distribution is accurately estimated by the ISPKF; in the second part, a set of ISPKFs is used to estimate the environment landmarks. The simulation test of the proposed ISP-FastSLAM algorithm compared with FastSLAM2.0 algorithm and Unscented FastSLAM algorithm is carried out, and the performances of the three algorithms are compared. The simulation and comparing results show that the proposed ISP-FastSLAM outperforms other two algorithms both in accuracy and in robustness. The proposed algorithm provides reference for the optimization research of FastSLAM algorithm.

关键词： mobile robot simultaneous localization and mapping （SLAM） particle filter Kalman filter unscented transformation

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The kinematic model, motion planning and analysis for obstacle negotiation capability of the composite six-wheeled-legged robot

The kinematic model, motion planning and analysis for obstac...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Wang, Weidong Xie, Chun Wu, Dongmei Dong, Wei Du, Zhijiang State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781457721373

This paper establishes the spatial kinematic model of the six-wheeled-legged robot by combining its spatial motion. In the process of the robot's crossing the obstacle, the position of its centroid determines whether the robot can cross the obstacle successfully or not, so the paper establishes the spatial kinematic model and the kinematic model of the centroid, and furthermore, simplifies the model for different typical postures so as to do the motion planning[1] and the analysis for obstacle negotiation capability of the vertical obstacle, the ditch obstacle and the slope obstacle. © 2011 IEEE.

关键词： Motion planning

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Robot-assisted PET-CT-MRI image fusion

Robot-assisted PET-CT-MRI image fusion

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IEEE/Institute of Complex Medical Engineering International Conference on Complex Medical Engineering

作者： Wang, Weidong Wu, Dongmei Sun, Pengfei Du, Zhijiang State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781424493241

A novel robot-assisted PET/CT/MRI image fusion method is presented. The robot carries the patient from one device to another automatically, securely and precisely. The images obtained in each device are fused by the robot position transformational matrix. First, a 4WD and 4WS mobile robot is introduced. Its design features are super payload capability, precise navigation and positioning, ultrasonic obstacle avoidance and Anti- magnetic. Second, the general kinematics model of the 4WD and 4WS mobile robot is presented. Several special modes are simplified from the general model, Such as ZRT mode, navigation mode and so on. At last several clinical trial of this system is introduced. The comparison result between the result of robot-assisted PET/MRI image fusion and the result of combined machine is presented. The method of the robot-assisted PET/MRI image fusion can make the process of image fusion more automatically, securely and precisely. © 2011 IEEE.

关键词： Mobile robots

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Development of a panoramic simulation for robot assisted endoscopic surgery

Development of a panoramic simulation for robot assisted end...

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IEEE/Institute of Complex Medical Engineering International Conference on Complex Medical Engineering

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

ISBN: (纸本)9781424493241

In recent years, the robot for minimally invasive surgery has been expanded for wide application in clinic. However, robot assisted surgery is quite different from traditional surgery, so the training and practice are very important to the surgeon. The development of a panoramic simulation for robot assisted endoscopic surgery is described in the paper. The simulation is appropriate for da Vinci and other similar system. In this simulation, the robot model is accurately presented, and its kinematic analysis is precise. The soft tissue model used in the simulation is an improved mass-spring model. This model is suited for real-time and visual deformation. A commercial haptic device known as Omega is used in this simulation, we can easily obtain haptics by it. As a result, the user can switch between panoramic display and local scene by zoom, and can easily manipulate the virtual surgical robot to perform many surgical operations such as grasping and pushing, at the same time, the user can feel the force feedback. © 2011 IEEE.

关键词： Robotic surgery

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A drive-control system for 3D piezoelectric stick-slip positioner

A drive-control system for 3D piezoelectric stick-slip posit...

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6th International Forum on Strategic Technology, IFOST 2011

作者： Rong, Weibin Zhang, Shizhong Liu, Xingxing Yu, Miao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781457703966

The micro-positioning system composed of dynamic piezoelectric translation devices features nanoscale resolution, millimeters range, compact structure and availability in extreme operating conditions, and it is commonly used in field of micro-nano operation. To solve the problem of the drive and control of the piezoelectric stick-slip positioner, a 3-channel drive-control system is developed. The driver is designed with a high-power integrated operational amplifier based on a mixed approach of voltage control and current control. The two modes can be switched easily in the use. A high speed DSP chip is chosen as the core of the controller which receives and processes the commands from PC. Experimental results show that the drive-control system has a resolution less than 4.6mV, a linearity error of 0.014% and a full power response bandwidth up to 5 kHz. © 2011 IEEE.

关键词： Stick-slip

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