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检索条件"机构=Mechatronics and Robotics Engineering"

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Kinematics and stiffness analyses of a flexure-jointed planar micromanipulation system for a decoupled compliant motion

Kinematics and stiffness analyses of a flexure-jointed plana...

引用

Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

作者： G. Alici B. Shirinzadeh Department of Mechanical Engineering Robotics & Mechatronics Research Laboratory Monash University VIC Australia

This paper aims (i) to introduce a new monolithic micromanipulation system for applications requiring micro/nano scale planar motion, and (ii) to model its stiffness consisting of the inherent stiffness of its joints, and the artificial stiffness due to its joint space position controller in order to obtain a decoupled compliant motion for the manipulator end point while a Cartesian force vector is acting upon it. The micromanipulation system is an in-parallel actuated planar manipulator based on five single DOF flexure joints connecting five supposedly rigid links to each other. Numerical results provided show that there exist practical operation ranges of the manipulator yielding both a suitable set of joint serve gains as well as a diagonal Cartesian stiffness matrix. The stiffness model can be used to predict the reaction forces arising from part misalignment and the task forces during the execution of micro tasks, such as micromanufacturing and microassembly. The determination of the forces is also useful for many applications such as designing micro fixtures and micro end effectors sustainable to task forces.

关键词： Kinematics Motion analysis Force control Motion control Joining processes Transmission line matrix methods Predictive models Microassembly Fixtures End effectors

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Constrained structural optimisation of a revolute-jointed planar parallel manipulator

Constrained structural optimisation of a revolute-jointed pl...

引用

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

作者： G. Alici B. Shirinzadeh Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Melbourne Australia

This paper addresses kinematic analysis and constrained structural optimisation of a five-bar planar parallel manipulator articulated with revolute joints only. The kinematics of the manipulator is investigated, and its Jacobian matrix as a function of the input joint positions has been formulated. An objective function based on minimizing the overall deviation of the condition number of the manipulator Jacobian matrix from the ideal condition number throughout the workspace of the manipulator has been employed to determine the link lengths subjected to a set of optimisation constraints. Optimisation results indicate that the proposed optimisation method is systematic, versatile and easy to implement for the optimal synthesis of the five-bar parallel manipulator and other kinematic chains.

关键词： Constraint optimization Kinematics Manipulator dynamics Jacobian matrices Parallel robots Optimization methods Couplings Transmission line matrix methods mechatronics Mechanical engineering

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A stable sequential inverse kinematics of flexible robots: explicit and implicit expansion methods

A stable sequential inverse kinematics of flexible robots: e...

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Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

作者： Joono Cheong Youngil Youm Wan Kyun Chung Robotics Laboratory School of Aerospace 63 Mechanical Engineering Seoul National University South Korea Department of Mechanical Engineering Robotics and Bio-Mechatronics Laboratory South Korea

ISBN: (纸本)0780378601

This paper deals with the sequential inverse kinematics for the high speed tracking of flexible robots. As a continuation of the implicit expansion method in, the explicit version of the sequential inverse kinematics is presented which is easier to be understood conceptually. The accuracy and stability of the two algorithms are compared and proved. Numerical study verifies the validity of the theoretical results.

关键词： Robot kinematics Mechanical engineering Manipulator dynamics Aerodynamics Aerospace engineering Biomechatronics Stability Tracking Torque Robustness

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Incremental and robust construction of Generalized Voronoi Graph (GVG) for mobile guide robot

Incremental and robust construction of Generalized Voronoi G...

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Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

作者： Sunghwan Ahn Nakju Lett Doh KyoungMin Lee Wan Kyun Chung Robotics & Bio-Mechatronics Laboratory Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

ISBN: (纸本)0780378601

GVG has been effectively used as a sensor based navigation tool using 360/spl deg/ sensor data. For mobile guide robot applications, however, we can only use 180/spl deg/ sensor data and the robustness of the navigation algorithm is critical for successful applications. For that purpose, the robot should be equipped with three capabilities. Those are 1) incremental GVG construction, 2) robust GVG navigation and 3) navigation strategy that just uses half of the sensor scan, i.e. 180/spl deg/. In this paper, we propose a GVG navigation algorithm that has above 3 capabilities. We firstly propose a method that can estimate the invisible 180/spl deg/ range from previous range data. Moreover, we suggest a way of robust GVG navigation algorithm by using a sensor data matching technique. The simulation result validates that the proposed algorithm can incrementally and robustly navigate the semi-unstructured map by using 180/spl deg/ sensor scan.

关键词： Robustness Mobile robots Navigation Robot sensing systems Biosensors Mechanical sensors Covariance matrix Sensor phenomena and characterization Biomechatronics Mechanical engineering

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Numerical and experimental estimation of stiffness performances for the humanoid robot WABIAN-RV

Numerical and experimental estimation of stiffness performan...

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2003 IEEE/ASME International Conference on Advanced Intelligent mechatronics, AIM 2003

作者： Carbone, G. Lim, Hun-Ok Takanishi, A. Ceccarelli, M. Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Via Di Biasio 43 CassinoFr03043 Italy Dept. of System Design Engineering Kanagawa Institute of Technology 1030 Shimoogino AtugiKanagawa243-0292 Japan Humanoid Robotics Institute Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan

In this paper, basic models and a formulation are presented for the stiffness analysis of the humanoid robot WABIAN-RV. An evaluation of stiffness performances is carried out by numerically implementing the proposed f... 详细信息

ISBN: (纸本)0780377591

关键词： Anthropomorphic robots

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Time domain passivity control with reference energy behavior

Time domain passivity control with reference energy behavior

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Jee-Hwan Ryu B. Hannaford C. Preusche G. Hirzinger Department of Electrical Engineering University of Washington Seattle WA USA Department of Robotic Systems Institute of Robotics and Mechatronics Germany

A recently proposed method for stabilizing haptic interfaces and teleoperation systems was tested with a "PHANToM" commercial haptic device. The "passivity observer" (PO) and "passivity controller" (PC) stabilization method was formed to stabilize the system but also excite high frequency mode in the device. To solve this problem, we propose a method to use a time-varying desired energy threshold instead of fixed zero energy threshold for the PO, and make the actual energy input follow the time-varying energy threshold. With the time-varying energy threshold, we make the PC control action smooth without sudden impulsive behavior by distributing the dissipation. The proposed new PO/PC approach is applied to PHANToM with high stiffness (K=500 N/m), and stable and smooth contact is guarantee. Resetting and active environment display problems can also be solved with the reference energy following idea.

关键词： Haptic interfaces Virtual environment Humans Displays Delay effects Robots Control theory Damping Force control System testing

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Time domain passivity control for 6 degrees of freedom haptic displays

Time domain passivity control for 6 degrees of freedom hapti...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： C. Preusche G. Hirzinger J.-H. Ryu B. Hannaford Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany Department of Electrical Engineering University of Washington Seattle WA USA

In this paper a modification of the time domain passivity controller is presented to improve its performance and transparency in case of multi degrees of freedom (dof) haptic interaction. In multi-dof application the concept needs to be extended by additional conditions to distribute the adaptive damping appropriately among the degrees of freedom. This can be solved by using the geometrical information coded in the output signals of the system. Experiments show the validity of this concept.

关键词： Haptic interfaces Displays Virtual reality Damping Humans Surgery Robots mechatronics Aerospace control Orbital robotics

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Optimal motion planning for free-flying robots

Optimal motion planning for free-flying robots

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Lampariello S. Agrawal G. Hirzinger Institute of Robotics and Mechatronics German Aerospace Center Webling Germany Department of Mechanical Engineering University of Delaware Newark DE USA

This paper addresses the problem of motion planning for free-flying robots. Full state actuation is considered to allow for large displacements of the spacecraft. Motion planning is formulated as an optimization problem and kinematic as well as dynamic constraints are considered. The chosen optimization criteria are spacecraft actuation and final time. The proposed method allows solutions which do not require any spacecraft actuation for those end goals for which the robot motion is sufficient.

关键词： Motion planning Orbital robotics Space vehicles Aerodynamics Path planning Robot motion mechatronics Constraint optimization Kinematics Displacement control

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Stiffness performance estimation for biped locomotor WL-15

Stiffness performance estimation for biped locomotor WL-15

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2003 IEEE/ASME International Conference on Advanced Intelligent mechatronics, AIM 2003

作者： Carbone, G. Sugahara, Y. Lim, H.O. Takanishi, A. Ceccarelli, M. Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Via Di Biasio 43 CassinoFr03043 Italy Graduate School of Science and Engineering Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan Kanagawa Institute of Technology Department of System Design Engineering 1030 Shimoogino AtsugiKanagawa243-0292 Japan Humanoid Robotics Institute Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan

ISBN: (纸本)0780377591

In this paper a biped locomotor, named as WL-15 (Waseda Leg 15), is analyzed in terms of stiffness characteristics. Basic models and a formulation are proposed in order to deduce the stiffness matrix as a function of the most important design parameters of the WL-15 architecture. First numerical simulations and experimental tests are also carried out for stiffness performance estimation. © 2003 IEEE.

关键词： Anthropomorphic robots

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Accurate relative localization using odometry

Accurate relative localization using odometry

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Nakju Doh H. Choset Wan Kyun Chung Robotics & Bio-Mechatronics Laboratory Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Sensor Based Planning Laboratory Mechanical Engineering Carnegie Mellon University Pittsburgh USA

All mobile robots suffer from odometry error. Relative localization from odometry has both the systematic and the non-systematic errors. However, once a precise system error model and its parameters are given, the accuracy of odometry can be remarkably improved. Most previous works on this effort focused on the differential drive robots with little attention to the other types of mobile bases. In this paper, we analyze sources of odometry error and propose an error model for the synchro drive robot. We then describe a novel procedure to accurately estimate the error parameters of the derived error model and the covariance matrix of the synchro drive robot. However, this procedure is general for all mobile bases, so we also apply our method for the differential drive robots and show experiments. This new process uses the shape of the path, as opposed to just end points, to estimate the error parameters and covariance matrix. We happen to use the generalized Voronoi graph to generate this path. Experimental results validate the error model of the synchro drive robot and precise estimation ability of the proposed method for the synchro and the differential drive robots.

关键词： Mobile robots Covariance matrix Parameter estimation Robot sensing systems Wheels Mechanical engineering Biomechatronics Biosensors Mechanical sensors Technology planning

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