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2003 ASME Design engineering Technical Conferences and Computers and Information in engineering Conference

作者： Larochelle, Pierre M. Robotics/Spatial Systems Laboratory Department of Mechanical Engineering Florida Institute of Technology Melbourne FL 32901 United States

In this paper we present a novel dyad dimensional synthesis technique for approximate motion synthesis. The methodology utilizes an analytic representation of the dyad's constraint manifold that is parameterized by its dimensional synthesis variables. Nonlinear optimization techniques are then employed to minimize the distance from the dyad's constraint manifold to a finite number of desired locations of the workpiece. The result is an approximate motion dimensional synthesis technique that is applicable to planar, spherical, and spatial dyads. Here, we specifically address the planar RR, spherical RR and spatial CC dyads since these are often found in the kinematic structure of robotic systems and mechanisms. These dyads may be combined serially to form a complex open chain (e.g. a robot) or when connected back to the fixed link they may be joined so as to form one or more closed chains (e.g. a linkage, a parallel mechanism, or a platform). Finally, we present some initial numerical design case studies that demonstrate the utility of the synthesis technique.

关键词： Production engineering

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Globally Convergent Relative Attitude Observers for Three-Platform Formations

Globally Convergent Relative Attitude Observers for Three-Pl...

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IEEE Annual Conference on Decision and Control

作者： Pedro Batista Carlos Silvestre Paulo Oliveira Institute for Systems and Robotics Laboratory of Robotics and Engineering Systems Portugal

ISBN: (纸本)9781479978878

This paper presents relative attitude filters for a formation of three mobile platforms based on direction measurements between the platforms, in addition to rate gyro readings. In short, relative attitude estimates are initially obtained from the raw direction measurements using a computationally efficient algebraic method, which has no ambiguities. Afterwards, an attitude and rate gyro bias observer is proposed, which is also computationally efficient and that provides filtered estimates of both the relative attitude between the platforms and the rate gyro bias. The stability is analyzed and it is shown that the error converges to zero for all initial conditions under some mild constraints on the filter gains. Simulation results are presented, in the presence of sensor noise, that illustrate the achievable performance of the proposed solutions.

关键词： Observers Vehicles Position measurement Bismuth Robot sensing systems Angular velocity

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Novel Surface Design of Deployable Reflector Antenna Based on Polar Scissor Structures

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Chinese Journal of Mechanical engineering 2020年第5期33卷 4-18页

作者： Pengyuan Zhao Jinguo Liu Chenchen Wu Yangmin Li Keli Chen State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of ScienceShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Department of Industrial and Systems Engineering The Hong Kong Polytechnic UniversityHong Kong 999077China

Space-deployable mechanisms can be used as supporting structures for large-diameter antennas in space *** study proposes a novel method for constructing the surface design of space reflector antennas based on polar scissor *** concurrency and deployability equations of the space scissor unit with definite surface constraints are derived using the rod and vector *** equations of the spatial transformation for space n-edge polar scissor units are summarized.A new closed-loop deployable structure,called the polar scissor deployable antenna(PSDA),is designed by combining planar polar scissor units with spatial polar scissor *** overconstrained problem is solved by releasing the curve constraint that locates at the end-point of the planar scissor *** simulation and error analysis are *** results show that the PSDA can effectively fit the paraboloid of ***,deployment experiments verify the validity and feasibility of the proposed design method,which provides a new idea for the construction of large space-reflector antennas.

关键词： Deployable structures Polar scissor unit Reflector antenna Surface design

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Distributed accelerated primal-dual neurodynamic approaches for resource allocation problem

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Science China(Technological Sciences) 2023年第12期66卷 3639-3650页

作者： ZHAO You HE Xing YU JunZhi HUANG TingWen College of Electronic and Information Engineering Southwest UniversityChongqing 400715China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China Science Program Texas A&M University at QatarDoha 2387Qatar

This paper investigates two distributed accelerated primal-dual neurodynamic approaches over undirected connected graphs for resource allocation problems(RAP)where the objective functions are generally *** the help of projection operators,a primal-dual framework,and Nesterov's accelerated method,we first design a distributed accelerated primal-dual projection neurodynamic approach(DAPDP),and its convergence rate of the primal-dual gap is O(1/(t^(2)))by selecting appropriate parameters and initial ***,when the local closed convex sets are convex inequalities which have no closed-form solutions of their projection operators,we further propose a distributed accelerated penalty primal-dual neurodynamic approach(DAPPD)on the strength of the penalty method,primal-dual framework,and Nesterov's accelerated *** on the above analysis,we prove that DAPPD also has a convergence rate O(1/(t^(2)))of the primal-dual *** with the distributed dynamical approaches based on the classical primal-dual framework,our proposed distributed accelerated neurodynamic approaches have faster convergence *** simulations demonstrate that our proposed neurodynamic approaches are feasible and effective.

关键词： accelerated primal-dual neurodynamic approaches RAP projection operators penalty method convergence rate O(1/(t^(2)))

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Intelligent Workshop Digital Twin Virtual Reality Fusion and Application 9th

Intelligent Workshop Digital Twin Virtual Reality Fusion and...

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9th International Workshop of Advanced Manufacturing and Automation, IWAMA 2019

作者： Miao, Qiang Zou, Wei Liu, Lilan Wan, Xiang Wu, Pengfei Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China Aerospace Systems Engineering Shanghai Shanghai China

ISBN: (纸本)9789811523403

With the intelligent development of the enterprise workshop, the amount of monitoring data of the workshop equipment doubles, and the characteristics of industrial data such as high speed, multi-source heterogeneity and variability are presented, and it is difficult to meet the real-time monitoring and health management of the workshop under dynamic and variable environment. In view of the above problems, based on the intelligent workshop-based equipment, combined with the application of digital twin key technology, multi-source data acquisition and data fusion modeling development and application of the workshop production line, the realization of the workshop based on multiple feedback source data in the digital The real situation of physical entities is presented in the world. According to the true reflection of the multi-source data fusion digital world, it is possible to comprehensively supervise the various operating parameters and indicators of the product, and realize the system health management of the intelligent workshop. © Springer Nature Singapore Pte Ltd 2020.

关键词： Data fusion

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Multi-Aspect Optimal Sliding Mode Controller for a Mecanum Wheeled Robot 11

Multi-Aspect Optimal Sliding Mode Controller for a Mecanum W...

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11th RSI International Conference on robotics and Mechatronics, ICRoM 2023

作者： Allahyari, Sohrab Rahmanei, Hamid Moosavian, S. Ali A. K. N. Toosi University of Technology Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Laboratory Dept. of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798350308105

Four-wheel drive Mecanum robots have gained attention due to their ability to move in all directions, which allows them to work in tight and complex environments. For this reason, ensuring precise control of these robots along predefined trajectories is crucial. This work presents a comparative study on the effects of parametric uncertainties, external disturbances, measurement noises, and initial deviations on the trajectory-Tracking performance of a 4-wheel drive Mecanum robot. First, the kinematic and kinetic models of the Mecanum robot are introduced. Then, the integral sliding mode control is designed, and proof of stability is provided. In addition, we explore other control strategies, including PID, feedback linearization, sliding mode, and adaptive sliding mode control, that are designed for this robot. Furthermore, the particle swarm optimization algorithm is hired for the controllers with a cost function as the total sum of average error, maximum error, and final error. Optimization has been done on all controllers to compare the results fairly. To appraise the effectiveness of the proposed control optimization methods, simulations are carried out in MATLAB/Simulink. The results reveal that the proposed ISMC method performs best in both defined scenarios compared to other controllers. However, it must be noted that the ISMC controller exhibits limitations when facing significant uncertainties in the dynamic model. This study underscores the effectiveness of our proposed control method and provides valuable insights into the practical implementation controller for the Mecanum robot in real-world applications. © 2023 IEEE.

关键词： Three term control systems

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Adaptive Soft Pneumatic Robot Inspired by Locomotion of Snake

Adaptive Soft Pneumatic Robot Inspired by Locomotion of Snak...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Lu, Jinxuan Hu, Xinshu Zhu, Xiaoyu Chen, Cheng Wang, Hongqiang Southern University of Science and Technology Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Shenzhen China Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities Shenzhen China Guangzhou China

ISBN: (纸本)9781665481090

Pneumatic soft robots have garnered widespread attention for their flexibility and adaptability in various applications. However, existing soft robots generally struggle to effectively navigate diverse terrains, especially when it comes to climbing obstacles. This paper introduces an adaptive pneumatic soft robot designed based on snake-like locomotion, which effectively addresses this issue. The robot utilizes four corrugated tubes as its soft actuators, complemented by silicone-made feet with bidirectional friction anisotropy, enabling it to adapt to various terrains and exhibit climbing capabilities. Experiments demonstrate that the robot can traverse different surfaces such as sand, gravel, and slopes, and can climb obstacles up to 20 centimeters high. Additionally, it features a self-regulation mechanism that allows it to recover from accidental overturns. This study presents a soft robot design with multi-terrain adaptability and self-recovery capabilities. © 2024 IEEE.

关键词： Pneumatics

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Movement Control and Attitude Adjustment of Climbing Robot on Flexible Surfaces

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2018年第3期65卷 2618-2628页

作者： Wu, Xinyu Liu, Jia Zhou, Yimin Lv, Qin Hu, Chaofang CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems and Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems and Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems and Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems and Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China School of Electrical and Information Engineering Tianjin University Tianjin China

In this paper, a series of control algorithms have been designed for the climbing cloth robot, "Clothbot" to climb vertically. The developed algorithm consists of three parts: a sliding mode control with integral action (SMC with integral action), a linear quadratic regulator, and dead reckoning for semi-autonomous navigation. First, the SMC with integral action is developed for high-precision position tracking and speed tracking of the permanent magnet direct current (PMDC) motor installed on the robot. The error between the expected velocity and the actual velocity of the PMDC motor is adopted to design the sliding surface. In order to compensate the fluctuation of the load torque due to the varied friction during climbing, an observer is formulated to estimate the load torque in real-time. Second, the LQR is employed for attitude adjustment by an active torque so as to prevent the robot from falling or being jammed during the movement. Third, due to the onboard-limited energy, the robot is just equippedwith semi-autonomous navigation named dead reckoning carrying on primary localization and primary path planning. Experiments are performed to verify the efficacy of the proposed control algorithms.

关键词： Climbing robot flexible surface linear quadratic regulator load observer sliding mode control with integral action

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GES Source Localization and Navigation based on Discrete-Time Bearing Measurements

GES Source Localization and Navigation based on Discrete-Tim...

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IEEE Annual Conference on Decision and Control

作者： Pedro Batista Carlos Silvestre Paulo Oliveira Institute for Systems and Robotics Laboratory of Robotics and Systems in Engineering and Science Portugal

ISBN: (纸本)9781467357159

This paper addresses the problems of source localization and navigation based on discrete-time single direction measurements, in 3-D, in addition to relative velocity readings. For source localization, an agent aims at estimating the position of a source relative to itself, while for navigation the agents aims to estimate its own position assuming that it also has access to the position of the source in an inertial frame. Additionally, unknown constant drift velocities are considered and explicitly estimated. The design follows essentially by considering an augmented system, which is linear, and thoroughly address its observability and its relation with the original nonlinear system. The final estimation solution is a Kalman filter, with globally exponentially stable (GES) error dynamics. Simulation results are presented that illustrate the achievable performance with the proposed solution.

关键词： Position measurement navigation Kalman filters discrete-time Observability estimated position

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On decentralized control of nonlinear three-link robots 19

On decentralized control of nonlinear three-link robots

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19th Asilomar Conference on Circuits, systems and Computers, ACSSC 1985

作者： Jamshidi, M. Seraji, H. Kim, Y.T. CAD Laboratory for Systems/Robotics Department of Electrical and Computer Engineering University of New Mexico AlbuquerqueNM87131 United States

ISBN: (纸本)0818607297

Robot manipulators have highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper a nonlinear dynamic model is first presented for an n-axis robot arm. Then, a linearized model is obtained for it. The linearized model is then considered as an n-controller large-scale system. The notion of decentralized stabilization has been introduced and applied to the robot arm. Numerical simulation for decentralized control of a 3-axis PUMA arm will also be included. © 1985 IEEE.

关键词： Decentralized control

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