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IEEE International Conference on robotics and Biomimetics

作者： Guoqiang Zeng Chin-Yin Chen Dishan Huang Yingdan Zhu Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo Zhejiang 315201 China Institute of Advanced Manufacturing Technology Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo Zhejiang 315201 China School of Mechatronic Engineering and Automation Shanghai University Shanghai 200072 China

ISBN: (纸本)9781467396769

It is crucial to plan trajectory in robotic finishing with complex surface in manufacturing industry. While traditional robot programming for grinding is still time consuming and not cost-effective generally. This paper focuses on automatic trajectory planning based on the cutter location (CL) data generated in CAD/CAM system. It not only explores a suitable way to convert the G code which obtained from CL data to robot programming directly through Visual Studio, but also automatically extract motion data from G code and generate the KUKA robot paths/programs in PC. In addition, simulation of robot's kinematics models are implemented in MATLAB to verify the robot reachability. An experiment in Unigrahics, MATLAB and real robot illustrates the grinding trajectory composed of CL data is appropriated.

关键词： programming grinding consuming

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Parameter optimization of controllable local degree of freedom for reducing vibration of flexible manipulator

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Chinese Journal of Aeronautics 2013年第2期26卷 487-494页

作者： Bian Yushu Gao Zhihui School of Mechanical Engineering and Automation Beihang University State Key Laboratory for Robotics and System (HIT) Harbin Institute of Technology

Parameter optimization of the controllable local degree of freedom is studied for reducing vibration of the flexible manipulator at the lowest possible cost. The controllable local degrees of freedom are suggested and introduced to the topological structure of the flexible manipulator, and used as an effective way to alleviate vibration through dynamic coupling. Parameters introduced by the controllable local degrees of freedom are analyzed and their influences on vibration reduction are investigated. A strategy to optimize these parameters is put forward and the corresponding optimization method is suggested based on Particle Swarm Optimization （PSO）. Simulations are conducted and results of case studies confirm that the proposed optimization method is effective in reducing vibration of the flexible manipulator at the lowest possible cost.

关键词： Degrees of freedom Flexible manipulators Optimization Particle Swarm Optimization Vibration control

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous robotics Systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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Vibration control design for a flexible string with input saturation

Vibration control design for a flexible string with input sa...

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World Congress on Intelligent Control and automation (WCICA)

作者： Wei He Chen Sun Shuzhi Sam Ge Robotics Institute and School of Automation Engineering University of Electronic Science and Technology of China Chengdu China Department of Electrical & Computer Engineering National University of Singapore Singapore Singapore

In this paper, we consider the vibration control problem of a flexible string system in the presence of input saturation. The dynamics of the string system are represented by the coupled partial differential equation (PDE) and ordinary differential equation (ODE). In order to suppress the transverse vibration of the flexible string system, boundary control is proposed by introducing a well-defined integral Lyapunov function. An auxiliary system is introduced to handle the effect of input saturation, and the proof for the existence and the uniqueness of the solution of the closed-loop system is presented. The exponential stability is achieved through rigorous analysis without any simplification of the dynamics. The results are illustrated with numerical simulations for verifying the control performance.

关键词： Vibrations Closed loop systems Boundary conditions Equations Stability analysis Educational institutions

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Research on the voice control and its audio signal processing in flexible manufacturing cell

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Sensors and Transducers 2013年第SPEC.12期25卷 91-97页

作者： Jing, Li Ting, Xu Nanyan, Shen Shanghai Key Laboratory of Mechanical Automation and Robotics School of Mechatronics Engineering and Automation Shanghai University 200072 Shanghai China

On the voice development platform of Microsoft Speech SDK, speech recognition and speech synthesis modules based on command control mode is built in this paper. Ethernet-based remote voice control system of intelligent flexible manufacturing cell is developed for machine tools and industrial robots. This paper designs an intelligent voice control system based on LabVIEW development environment, which realizes the human-machine voice interaction of flexible manufacturing cell and remote voice control. Audio signal processing is also designed in this paper based on MATLAB platform which largely reduces the effects caused by environmental noises. The mixing programming of LABVIEW and MATLAB can realize audio signal acquisition and processing easily and finally achieve reliable speech recognition system. Experimental studies have shown that intelligent voice control system has high speech recognition rate and system reliability both in quiet and adverse environments. © 2013 IFSA.

关键词： Cells

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Corrigendum to a Low-Cost, Light-Weight Climbing Robot for Inspection of Glass Curtains

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International Journal of Advanced Robotic Systems 2015年第3期12卷 20-20页

作者： Ran Liang Meteb Altaf Eball Ahmad Rong Liu Ke Wang Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China National Robotics & Intelligent Systems center King AbdulAziz City for Science and Technology Saudi Arabia Riyadh Saudi Arabia Arts et Métiers ParisTech Design Manufacturing and Control Laboratory (LCFC) Paris France

Corrigendum, corrigendum

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Study on the extraction method of tool wear symptom based on wavelet packet analysis

Study on the extraction method of tool wear symptom based on...

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IEEE International Conference on Mechatronics and automation

作者： Chongyang Zhao Jun Luo Shaorong Xie Hengyu Li School of mechanical and power engineering Henan Polytechnic University Henan China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China School of Mechatronics Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9781479939800

With the emergence of PCBN cutting tools, hard turning technology was used more and more widely in the difficult-to-cut materials. Therefore, it is particularly important to study the tool wear mechanism of ultrasonic hard cutting and intelligent monitoring technology of tool wear. Then, a multisignal intelligent monitoring test platform of tool wear was established through Kistler9257B resistance dynamometer, the INV306DF east vibration isolation system and Japan Roy keane and high-speed microscopic photography system. The test was designed about GCr15 hardened bearing steel machined by PCBN under ultrasonic vibration and tool wear mechanism was analyzed. A special characterization and the influence of cutting conditions on tool wear are obtained under the conditions of ultrasonic cutting. Because the sensor signal information Obtained from can't be directly used to identify the tool wear state a variety of signals collected in different processing time were analyzed and disposed in this paper. And the vibration signal were analyzed by wavelet transform. Then characteristics of the tool wear state were obtained.

关键词： Vibrations Monitoring Wavelet packets Wavelet analysis Acoustics Feature extraction

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Optimization and design of remote center motion mechanism of Minimally Invasive Surgical robotics

Optimization and design of remote center motion mechanism of...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Bo Pan Yili Fu Guojun Niu Dianguo Xu School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479953349

Minimally Invasive Surgery (MIS) has many advantages and is achieved mainly by Remote Center Motion. In this paper, a new RCM mechanism which is triangle is proposed, this mechanism is simple and high stiffness. Optimization incorporating the requirements for MIS are performed to find the optimal link lengths of the manipulator. The results show that for the serial triangle2-link manipulator used to guide the surgical tool, the optimization link angles are (74°, 51°). Three-dimensional model design is achieved.

关键词： Minimally invasive surgery Optimization Jacobian matrices Medical robotics Service robots

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Design of a novel surgical instrument for minimally invasive robotic surgery

Design of a novel surgical instrument for minimally invasive...

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IEEE International Conference on robotics and Biomimetics

作者： Bo Pan GuoJun Niu YiLi Fu DianGuo Xu Yongsheng Wang School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

Minimally invasive robotic surgery (MIRS), compared to open surgery and traditional minimally invasive surgery, has advantages especially for patients and surgeons. In MIRS the surgeon's capabilities are extended for kinds of dexterous instruments, and surgeons could perform precise and dexterous movements which are difficult to carry out by means of rigid instruments. In this paper, the design of a novel 4DOF dexterous surgical instrument for MIRS is presented. After analyzing feature of surgical instrument for MIRS, a novel 4DOF dexterous surgical instrument based on pulley-tendon mechanism is developed. The end effector of such an instrument is articulated, providing 4DOF without coupled motions. Force limited function is realized by conical axis mechanism, and a new quick change interface is designed based on trapezoidal clutch plate and magnetic sensors to change instruments according to the operation requirement. Strength checking of key parts are also analyzed. The experimental results demonstrate that the proposed surgical instrument can perform 4DOF uncouple motions with 10 mm outer diameter, except that the fast interface meet the fast and reliable requirements. The surgical instrument proposed in this paper has a good motion performance, flexibility and maneuverability. The surgical instrument satisfies the requirements of MIRS, laying a solid technical foundation for clinical application.

关键词： Instruments Grippers Wrist Wires Surgery Wheels Steel

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Design of passive joint in minimally invasive surgical robot

Design of passive joint in minimally invasive surgical robot

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IEEE International Conference on robotics and Biomimetics

作者： Jiawen Yan Bo Pan Guojun Niu Yili Fu Dianguo Xu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

Several passive joints are usually needed in surgical robots to decrease the difficulty in doctors' operating, which can be manually rotated without motor pushing. When stopped at a specified position, passive joints should be locked until operation ends, and keep bearing torques. This paper is aimed to design a locking method used in minimally invasive surgical robot. Firstly choose the locking type based on the technical requirements, and then the dimension can be determined using friction theory. Before finishing this design, the structure is verified by simulation. Not only the traditional method is used in the paper, but also new method combined with simulation is applied. As a result, the structure is much more reasonable, and will be the foundation for the following study.

关键词： Friction Force Joints Stress Torque Robots Load modeling

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