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IEEE International Conference on robotics and Biomimetics

作者： Yongqiang Xiao Zhijiang Du Wei You Ruifeng Li School of Mechatronics Engineering and State Key Laboratory of Robotics and System Harbin Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424493197

This paper presents a new approach to establish a dynamic model of robot joints. The model is constructed by ideally dividing a robot joint into high-speed block and low-speed block and described with nonlinear characteristics such as friction, backlash and hysteresis. The friction behavior of two blocks is captured by the Generalized Maxwell-Slip model. The Preisach model is used to describe the hysteresis character of joints. Because the “congruency” assumption of hysteresis, which is needed in the Preisach model, is not strictly tenable in complex joints, so there construct the hysteresis model through Preisach model plus a nonlinear stiffness. A simple and effective method is developed to model the backlash behavior in joints. The integrated joint model of an industry robot built by our laboratory is established and simulation model is constructed in Simulink of Matlab. The validity of this model is demonstrated and a new avenue opened in this way.

关键词： Friction Solid modeling Joints Hysteresis Mathematical model Robots Force

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Optimal design for a 2-dof high dynamic manipulator based on parallelogram mechanism

Optimal design for a 2-dof high dynamic manipulator based on...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Min Xiu Kong Wei You Zhi Jiang Du Li Ning Sun School of Material Science and Engineering Harbin Institute of Technology China State Key Laboratory of Robotics and System Harbin China

In this paper, a design and optimization approach for a 2-dof manipulator based on parallelogram mechanism for high dynamic application is proposed. After the kinematic and dynamic analysis, several advantages of the mechanism are illustrated which make it possible to reach good dynamic performance through mechanism optimization. Based on the idea of design for control (DFC), a novel kind of multi-objective optimization method is presented. Several index considering both kinematic and dynamic performances are chosen as objective functions and design constraints. The cross-section area and length of the linkages are chosen as the design variables. NSGA-II algorithm is introduced to solve this complex multi-objective optimization problem. And a new expression for the measuring of dynamic coupling degree with clear physical meaning is proposed, it shows that the optimized mechanism has an approximate decoupled dynamics structure, and each active joint could be regarded as a linear SISO system. The final optimized mechanism could be used in high speed pick-plate applications only using simple linear controller.

关键词： Joints Couplings Optimization Kinematics Mathematical model Equations Manipulator dynamics

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Improvement on obstacle avoiding ability based on laser range finder

Improvement on obstacle avoiding ability based on laser rang...

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International Conference on Mechatronics and Automation

作者： He, Fujun Liu, Xiaolei Du, Zhijiang Ta, Yueyue Daqing Petroleum Institute Daqing Heilongjiang 163318 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China Department of Mechanical Science and Technology Electrical Engineering Department Daqing Petroleum Institute Daqing Heilongjiang 163318 China

ISBN: (纸本)9781424451418

Mobile robot works in complicated environment have to deal with all kinds of obstacles, some obstacles may leave only a narrow way, and some obstacles moves quickly or arbitrarily, such as a child. The robot must improve its ability to quickly sensing the obstacles and tracking their state, and then avoid these obstacle and move to the original goal at the same time by motion planning. To improve the obstacle avoiding ability, a three layers obstacle avoiding policy is adopted to deal with the obstacle in different range. The dangerous obstacles are determined and the sub-goal based avoiding policy is presented. To improve the responding ability to moving object, a tracking model is set up, which takes into account the influence of moving platform. The robot may anticipate the collision possibility, collision time and position from tracking algorithm, and then three obstacle avoiding policy is presented according to the collision estimation. The experiment shows good moving object avoiding result. © 2010 IEEE.

关键词： Motion planning

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Velocity analysis of tri-axial differential pipeline robot when getting across elbow

Velocity analysis of tri-axial differential pipeline robot w...

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International Conference on Information and Automation (ICIA)

作者： Qingkai Li Dewei Tang Zongquan Deng Shengyuan Jiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China College of Mechanical Engineering Beihang University Jilin China

A wheel-type pipeline robot applying a tri-axial differential mechanism is presented in this paper, which is targeted for moving inside the elbow while the ratios of angular velocities of the driving wheels depend on their movement trajectories. The main features of the robot are illustrated and some details about the mechanism are provided. To confirm the differential effectiveness of the robot, a geometry model of the robot in the elbow is established, which makes it possible to calculate the wheel centers and the contact points between the wheels and the inner surface of the pipeline. On the basis of the geometry model, the velocity ratios of the driving wheels can be computed. Several virtual experiments are performed, and the differential function of the robot is validated through the comparisons of the results between the theoretical analysis and the experiments.

关键词： Pipelines Elbow Mobile robots Wheels robotics and automation Angular velocity Computational geometry Solid modeling Petroleum Information analysis

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Improvement on obstacle avoiding ability based on laser range finder

Improvement on obstacle avoiding ability based on laser rang...

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IEEE International Conference on Mechatronics and Automation

作者： Fujun He Xiaolei Liu Zhijiang Du Yueyue Ta Daqing Petroleum Institute Daqing Heilongjiang China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Mechanical Science and Technology Electrical Engineering Department Daqing Petroleum Institute Daqing Heilongjiang China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

关键词： Collision avoidance Radar tracking Tracking Robot kinematics Covariance matrix Jacobian matrices

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Local shape patch based object detection

Local shape patch based object detection

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International Conference on Information and Automation (ICIA)

作者： Zhijiang Du Chen Guodong Lining Sun Junhong Ji Ming Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore

We present a novel object detection framework that uses the local shape patches features combining the interclass global features information. A supervised local model learning architecture is proposed: a novel interest point descriptor is proposed and applied to detect the local shape patches, the local shape patches are formed by chains of several connected contour segments. Then the object local contour parts model are learned from a small set of training images. In order to make the local contour patch model is invariant to rotation and translation, the local contour patch descriptor is represented by modified shape context. By adding the edge orientation information and interclass global information, the power of differentiating mismatches is increased, especially detecting the objects existing similar parts. Both experiments on image feature point matching and object detection comparing with other feature descriptors are carried out in order to validate the proposed method.

关键词： Shape Object detection Image segmentation Context modeling Histograms Biological system modeling robotics and automation Image edge detection Feature extraction Sun

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A Wireless Communication Method with Dynamic Adding Nodes for the Underground Search and Rescue Robot

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Journal of Measurement Science and Instrumentation 2010年第3期1卷 212-216页

作者：焦国太王峰秦栋泽 . State Key laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Robotics Research Center North University of China Taiyuan 030051 China College of Mechatronics Engineering North University of China Taiyuan 030051 China

A wireless communication method with dynamic adding nodes for Underground Search and Rescue robot is proposed： fix the address of the controller, add repeater nodes into the net dynamically, and shift the address of the mobile terminal. With this method, the Search and Rescue robot can reach the deeper place of a mine to help rescue and keep in touch with the controller through wireless communication in a single channel, even in a complex laneway where radio wave cannot go through the thick wall. The collision in the process of the two-way multi-hop communication in the single channel will also be resolved by the communication direction priority and response signal mechanism, to enhance the reliability of communication. Finally, a sample is designed and an experiment is conducted to verify the efficiency of the method.

关键词： nndti-hop wireless communication underground search and rescue robot

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Design of a novel serial and parallel force feedback master manipulator

Design of a novel serial and parallel force feedback master ...

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IEEE International Conference on robotics and Biomimetics

作者： Hongmin Wang Dongmei Wu Zhijiang Du Zhiyuan Yan Changjun Li State Key Laboratory of Robotics and System Hit Limited Harbin China College of Electric and Information Engineering Heilongjiang Institute of Science and Technology Harbin China

ISBN: (纸本)9781424493197

This paper presents the design of a novel serial and parallel master manipulator. Firstly, the mechanism configuration of the master manipulator with a novel serial and parallel mechanism is given. Parallel mechanism uses 3-RUU type to achieve position control, and serial mechanism adopts triaxial concurrent mechanism to realize posture control. Then, the kinematics analysis of the master manipulator such as parallel mechanism inverse kinematics and forward kinematics, jacobian matrix and serial mechanism kinematics are given. Thirdly, the master manipulator workspace is analyzed, and the master manipulator static stiffness for the three points in the workspace is also analyzed. Finally, the force feedback simulation experiment is carried out to verify the parallel mechanism force feedback. It can be seen that this novel serial and parallel master manipulator meets the design requirements and future force feedback.

关键词： Manipulators Force feedback Kinematics Force Clamps Equations

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Design and Analysis of a New Cable-Driven Hyper Redundant Manipulator

Design and Analysis of a New Cable-Driven Hyper Redundant Ma...

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2010 International Conference on Intelligent Computation Technology and Automation(2010 智能计算技术与自动化国际会议 ICICTA 2010)

作者： Zhao Qiang Gao Fang State Key Laboratory of Robotics and System/Computer School Harbin Institute of Technology Harbin Mechtronical Engineering School Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424472796

Hyper-redundant manipulators have been widely used in many fields, however many existing hyper redundant manipulators actuated directly by motors have the disadvantages of complicate structure and high cost. This paper proposes a novel remote cable-driven hyper redundant manipulator. This manipulator is based on elephant trunk bionics, and composed of several serial links combined by Hook joints. Each link is pulled by two antagonized pairs of cables. Two antagonized pairs belonged to the same link are tied and driven by only one motor, which can reduced largely the number of step motors needed. This paper fully discusses the structure and analyzes the cable stretching and retracting displacement. Analysis and motion simulation results show that the proposed scheme is practical and effective.

关键词： hyper-redundant manipulator cable-driven actuation design displacement simulation

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Laser range finder based moving object tracking and avoidance in dynamic environment

Laser range finder based moving object tracking and avoidanc...

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International Conference on Information and Automation (ICIA)

作者： Fujun He Zhijiang Du Xiaolei Liu Yueyue Ta Department of Mechanical Science and Technology Daqing Petroleum Institute Daqing Heilongjiang China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

The mobile robot that works in dynamic environment must have strong ability of avoiding obstacles especially moving objects and move to it original goal. To achieve the goal, the dynamic polar coordinate environment model based on laser range finder is set up, which can not only simplify the environment description but also improve the responding ability. Based on these data a moving object tracking model is also set up, which take into account the influence of moving platform, may obtain better tracking effect. The robot may anticipate the collision possibility, collision time and position from tracking algorithm, and then three obstacle avoiding policy is presented for robot to choose according to the collision estimation. The experiment shows good moving object avoiding result.

关键词： Radar tracking Mobile robots Robot sensing systems Robot kinematics Laser radar robotics and automation Helium Laser modes Particle tracking Nonlinear systems

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