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An improving analytically model with high accuracy for a micro manipulator

Journal of Information Hiding and Multimedia Signal Processing 2015年第6期6卷 1242-1249页

作者： Ni, Yuan Deng, Zong-Quan Li, Jun-Bao Wu, Xiang Li, Long Research Center of Aerospace Mechanism and Control School of Mechatronics Engineering Harbin Institute of Technology China Shanghai Key Laboratory of Mechanical Automation and Robotics SSchool of Mechatronic Engineering and Automation Shanghai University China

A proposed mathematical model is established for modal analysis of a micro manipulator. According to the geometric characteristics of the manipulator, the model is built by using finite element method with multipoint constraint equations, and the corresponding displacement coordinate matrix is obtained after that. Considering that the regular flexure hinge plays a key role, in this analysis process, the hinge is treated as a varied cross-section Euler-Bernoulli beam element and the finite element model is established by a new procedure which followed the element internal equilibrium principle consequently. The stiffness matrix, the mass matrix and the exact shape functions of the non-prismatic beam element can be obtained respectively. Furthermore, the influences of geometric parameters on the fundamental frequency can also be discussed. © 2015 Ubiquitous International. All rights reserved.

关键词： Natural frequencies

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A Novel Assembly Line Balancing Optimization Algorithm based on PSOSA

A Novel Assembly Line Balancing Optimization Algorithm based...

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2015 4th International Conference on Computer, Mechatronics, Control and Electronic engineering (ICCMCEE 2015)

作者： Xiaomei Hu Yubin Wang Yangyang Zhang Xinran Shi The Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Department of Mechanical Engineering University of Michigan

ISBN: (纸本)9781510813465

Assembly line is widely used in manufacturing system and assembly line balancing problem directly affects the productivity of the whole manufacturing system. In the actual situation of assembly process, optimizing a certain goal in the process of actual assembly individually may cause the neglect of relevance of balance goals, so a dual-objective optimization model is proposed. Although there are many ways to solve the assembly line balancing problem, most of them have a slow convergence speed and poor optimize result. A PSOSA hybrid optimization algorithm is put forward to improve the solution quality. The Metropolis criterion of SA algorithm is integrated into PSO algorithm to overcome the precocious phenomenon of PSO and long optimization time of SA. So the PSOSA hybrid optimization algorithm has the advantages of PSO and SA algorithm. The simulation results show the feasibility and effectiveness of the assembly line balancing optimization algorithm based on PSOSA algorithm.

关键词： assembly line balancing optimization PSOSA hybrid optimization algorithm

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Analysis of rectilinear motion of a three-segment snake robot under action of dry friction

Analysis of rectilinear motion of a three-segment snake robo...

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IEEE International Conference on robotics and automation (ICRA)

作者： Wenbin Tang Shugen Ma Department of Robotics Ritsumeikan University Kusatsu Shiga Japan School of Electrical Engineering & Automation Tianjin University China Department of Robotics Ritsumeikan University Japan

ISBN: (纸本)9781479969241

Snakes and worms are capable of travelling along a straight line on a resistance medium using rectilinear locomotion. To apply this kind of gait in snake-inspired robots, some fundamental properties remain elusive. In this paper, we study the directional migration of a three-segment self-propelled system on a rough horizontal surface with Coulomb's dry friction. We elucidate the possibility that the system achieves directional migration through the propagation of extension and contraction wave. The necessary and sufficient conditions are certified to insure that the system is able to start from the state of rest. To analyze the approximately steady-state motion of the system, we provide explicit formulas for the mean velocity of the whole system by method of averaging. It is confirmed that for isotropic friction, the average speed and direction of the motion can be excited controlled.

关键词： Friction Force Steady-state Motion segmentation Propulsion Actuators

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Research of LED assembly line Modeling and Optimization based on the Petri Net

Research of LED assembly line Modeling and Optimization base...

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2015 4th International Conference on Computer, Mechatronics, Control and Electronic engineering (ICCMCEE 2015)

作者： Dong Wang Xiaomei Hu Zhenghao Xu Tao Yu Xinran Shi The Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Department of Mechanical Engineering University of Michigan

ISBN: (纸本)9781510813465

In order to reduce the design flaw and improve the productivity, the model of LED bulb assembly line based on the Fuzzy Hierarchical Petri Net is proposed. The process of LED bulb assembly line is given, and the hierarchical modeling based on FHPN is described. The model of LED bulb assembly line includes three layers and each layer is defined. Through the analysis of the time performance of the model based on FHPN, the optimization model of the LED bulb assembly line is put forward. The experimental result shows that the takt time of the optimization model decreases by 13.3% compared with that of the original model, which increases the production efficiency rate.

关键词： Fuzzy Hierarchical Petri Net assembly line model optimization fault diagnosis

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Online Method for Simultaneous Extraction of Individual Harmonics in Three-Phase Systems

Online Method for Simultaneous Extraction of Individual Harm...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Pedro Roncero-Sanchez Xavier del Toro Garcia Alfonso Parreno Torres School of Industrial Engineering University of Castilla-La Mancha Robotics and Automation Centre Albacete Science and Technology Park

ISBN: (纸本)9781479917631

Active power filters are key elements in both the removal of harmonic components caused by different loads and the maintenance of the power quality. Algorithms which extract the various harmonics from the waveform are therefore needed to generate the references for the active power filters. These algorithms normally extract the sum of all the undesired harmonics. Nevertheless, if it is necessary to compensate certain harmonics or if the individual information of each harmonic component is required, these algorithms are not valid. This work proposes the simultaneous estimation of the amplitudes of various harmonics by taking frequency deviations into consideration. The proposed algorithm uses robust discrete notch filters and approximately estimates the amplitudes of the harmonics in one cycle of the fundamental period.

关键词： Harmonic analysis Frequency estimation Digital filters Power harmonic filters Power system harmonics Power quality

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Multi-sensor control for precise assembly of optical components

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Chinese Journal of Aeronautics 2014年第3期27卷 613-621页

作者： Ma Li Rong Weibin Sun Lining School of Mechatronic Engineering and Automation Shanghai University State Key Laboratory of Robotics and System Harbin Institute of Technology

In order to perform an optical assembly accurately, a multi-sensor control strategy is developed which includes an attitude measurement system, a vision system, a loss measurement system and a force sensor. A 3-DOF attitude measuring method using linear variable differential transformers （LVDT） is designed to adjust the relation of position and attitude between the spher- ical mirror and the resonator. A micro vision feedback system is set up to extract the light beam and the diaphragm, which can achieve the coarse positioning of the spherical mirror in the optical assembly process. A rapid self-correlation method is presented to analyze the spectrum signal for the fine positioning. In order to prevent the damage of the optical components and realize sealing of the resonator, a hybrid force-position control is constructed to control the contact force of the optical components. The experimental results show that the proposed multi-sensor control strategy succeeds in accomplishing the precise assembly of the optical components, which consists of parallel adjustment, macro coarse adjustment, macro approach, micro fine adjustment, micro approach and optical contact. Therefore, the results validate the multi-sensor control strategy.

关键词： Assembly Attitude measurement Force control Multi-sensor Vision

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Modeling paddle-aided stair-climbing for a mobile robot based on eccentric paddle mechanism

Modeling paddle-aided stair-climbing for a mobile robot base...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Yi Sun Yang Yang Shugen Ma Huayan Pu Department of Robotics Ritsumeikan University Shiga Japan School of Mechatronics Engineering and Automation Shanghai University Shanghai China

To gain high mobility on challenging terrains, a mobile robot based on eccentric paddle mechanism (ePaddle) with locomotion versatility has been proposed. In this paper, a paddle-aided stair-climbing motion is presented for this ePaddle-based robot. The robot can roll on the stair as a traditional wheeled vehicle and also can climb up the stair under the help of its paddles. Robot-stair interaction modes are presented and typical feasible postures of the robot in stair-climbing are discussed. Frictional requirements for the robot to hold a desired posture are evaluated by modelling statics of the robot. Analyzed results reveal that two critical scenarios in wheeled mode occur when the front-wheel is at the bottom of the riser, and when the rear-wheel is at the top of the riser, respectively. In contrast, frictional requirements of the paddle-aided stair-climbing postures confirm that the robot can climb up the stair with all feasible postures by touching the stair with the paddle, which verifies the effectiveness of the proposed paddle-aided stair-climbing.

关键词： Mobile robots Wheels Force Friction Vehicles Nose

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Passivity-based model free control of an omnidirectional mobile robot

Passivity-based model free control of an omnidirectional mob...

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International Conference on Mechatronics (ICM)

作者： Chao Ren Shugen Ma Department of Robotics Ritsumeikan University Shiga Japan School of Electrical Engineering and Automation Tianjin University Tianjin China

ISBN: (纸本)9781479936342

This paper presents a passivity-based trajectory tracking controller for an omnidirectional mobile robot, based on a modified generalized proportional integral observer. In contrast to traditional feedback linearization methods, the design objective of our approach is to design a controller such that the passivity property of the robot is preserved in the closed-loop system. The resulting control system could be very attractive from a practical point of view, since the inertia matrix and coriolis matrix of the robot dynamic model are not required. The robot geometrical information is the only required model information, which can be easily obtained in practical applications. Moreover, only position measurements are used. In addition, the closed-loop stability property is analyzed. Comparisons with traditional PID control have been conducted through simulations to show the effectiveness of the proposed control approach.

关键词： Mobile robots Trajectory Observers Robot kinematics DC motors

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Neural Adaptive Control for Robots with Uncertainties in Manipulator Dynamics and Actuator Dynamics Under Constrained Task Space

Neural Adaptive Control for Robots with Uncertainties in Man...

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第三十四届中国控制会议

作者： Zhong-Liang Tang Shuzhi Sam Ge Wei He Center for Robotics and School of Computer Science and Engineering University of Electronic Science and Technology of China Social Robotics Lab Interactive Digital Media Institute National University of Singapore Center for Robotics and School of Automation Engineering University of Electronic Science and Technology of China

ISBN: (纸本)9781467374439

Driven by the needs of safe human-robot interaction, this paper presents control designs for tracking control of robot system with uncertain manipulator dynamics and joint actuator dynamics subject to constrained task space. The integral Barrier Lyapunov Functional(i BLF) is employed to guarantee the constraint satisfaction, in which a conservative mapping of original constraint into new constraints on tracking errors is removed. Neural Networks(NN) are adopted to approximate the unknown packaged terms in desired control. Appropriate adapting parameters are constructed to estimate the unknown bounds on NN approximation. It is proved that the task space vector of end-effector converge to a small neighborhood around a desired trajectory without violating the predefined constrained region. Simulation results are provided to illustrate the performance of proposed control.

关键词： Robot,Constrained Task Space,Safe Interaction,Neural Networks,Barrier Lyapunov Function

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An Anti-interference EEG-EOG Hybrid Detection Approach for Motor Image Identification and Eye Track Recognition

An Anti-interference EEG-EOG Hybrid Detection Approach for M...

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第三十四届中国控制会议

作者： Haoyue Tang Yue Zhao Wei He Wei Fu School of Computer Science and Technology University of Electronic Science and Technology of China School of Automation Engineering University of Electronic Science and Technology of China School of Automation Engineering & Center for Robotics University of Electronic Science and Technology of China

ISBN: (纸本)9781467374439

In this paper, an anti-interference EEG-EOG hybrid detection approach is adopted for motor image identification and eye track recognition. We present a wave trap filter and a band pass filter to suppress power frequency interference and white noise. Meanwhile, the filter can still separate EEG and EOG signal from hybrid signal. Then, the features of EEG/EOG signal are extracted by the wavelet transform algorithm, and classified by the linear discriminant analysis(LDA) *** effectiveness of the signal process method described in this paper can be clearly observed through both of simulations and experiments, and the accuracy rate of pattern recognition is demonstrated in the end of the paper.

关键词： EEG signal,EOG signal,wavelet transform,LDA algorithm

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