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检索条件"机构=School of Robotics and Automation Engineering"

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Mechanical design and dynamic analysis of planetary rover

Mechanical design and dynamic analysis of planetary rover

引用

IEEE International Conference on robotics and Biomimetics

作者： Xinyuan He Shugen Ma Bin Li Yuechao Wang Graduate School of Chinese Academy of Sciences China Robotics Laboratory Shenyang Institute of Automation China Faculty of Engineering Ibaraki University Japan

For improvement of planetary rover locomotion, a new type of tracked vehicle was designed for planetary exploration based on the concept of reconfigurability. By applying the planetary wheel principle, the system can give output in different forms under various constraint conditions. As a reconfigurable module, the vehicle can be integrated into a larger system using two basic configurations. As a stand-alone rover, it has two moving modes. The whole design was analyzed by conducting dynamics simulations and experiments

关键词： Robot kinematics Wheels Mobile robots Vehicle dynamics Orbital robotics robotics and automation Automotive engineering Sliding mode control Helium Laboratories

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Requirements of glass cleaning and development of climbing robot systems

Requirements of glass cleaning and development of climbing r...

引用

IEEE International Conference on Mechatronics and automation

作者： Houxiang Zhang Jianwei Zhang Guanghua Zong TAMS Department of Informatics University of Hamburg Hamburg Germany Robotics Institute School of Mechanical Engineering and Automation BeiHang University Beijing China

ISBN: (纸本)0780387481

Cleaning the outer walls of high-rise buildings is always dangerous and laborious work in mid-air. An alternative solution is to use walking-climbing robots which overcome the above-mentioned problems. Wall cleaning and maintenance of high-rise buildings is becoming one of the most appropriate fields for robotization due to its current low level of automation and lack of uniform building structure. In this paper, a family of sky clearner robots for this diffiuclt job which are totally actuated by pneumatic cylinders and sucked into the glass walls with vacuum suckers are presented. Firstly the basic functions for glass wall cleaning robot are summarized systemically. the individual robots' mechanical constructions and unique aspects are introduted in details. In the end a summary of the main special features of the three kinds of cleaning robots are given.

关键词： Glass Cleaning Climbing robots Mobile robots robotics and automation Legged locomotion Propellers Buildings Robot sensing systems Kinematics

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Development of an OpenGL based multi-robot simulating platform

Development of an OpenGL based multi-robot simulating platfo...

引用

International Conference on Control, automation, robotics and Vision (ICARCV)

作者： Zheng Zhang Shugen Ma Bin Li Liping Zhang Binggang Cao School of Mechanical Engineering Xi''an Jiaotong University Xi'an China Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)0780386531

Simulating platform plays a crucial role in multi-robot research, as a tool to quickly and efficiently test new concepts, strategies, and algorithms. In this paper, OpenGL and Visual C++ based modeling method has been discussed in detail to establish a platform for the 3D simulating of multi-link mobile robots and their collaboration. The cooperation strategies, the control methods and the communication mechanisms of multi-robot system can be explored and verified by this platform. A planetary robot system is used to verify the validity of the developed platform. The effectiveness and the practicability of the platform are successfully demonstrated by a four-robot motion coordination simulating results.

关键词： Robot kinematics robotics and automation Mobile robots Wheels Communication system control Control systems Planets Laboratories Automatic testing Collaboration

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Optimizing supervision and control for industrial furnaces: Predictive control based design 4

Optimizing supervision and control for industrial furnaces: ...

引用

4th IFAC Workshop Automatic Systems for Building the Infrastructure in Developing Countries, DECOM-TT 2004

作者： Dimirovski, Georgi M. Dinibütün, A. Talha Vukobratovic, Miomir K. Zhao, J. Faculty of Electrical Engineering MK-1000 Skopje SS Cyril and Methodius University Macedonia Computer Engineering Department Faculty of Engineering Acibadem Dogus University Zeamet Sk. 21 Kadikoy IstanbulTR-34722 Turkey Centre of Robotics and Flexible Automation Institute Mihailo Pupin Belgrade11000 Serbia School of Information Science and Engineering Institute of Control Theory Northeastern University Shenyang Liaoning110004 China

A systems re-engineering technique to integrated control and supervision for applications to industrial multi-zone furnaces has been elaborated by using known theories on generalized predictive control and nonlinear programming. This paper presents the derivation of optimizing equations and inequalities. The design is based on the use of general predictive control to provide optimized set-points under the presumption a well designed regulatory control was implemented at the executive level. Digital implementation of control functions are sought within standard computer process control platform for practical engineering and maintenance reasons. Copyright © 2004 IFAC.

关键词： Integrated control

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A novel approach to pneumatic position servo control of a glass wall cleaning robot

A novel approach to pneumatic position servo control of a gl...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Houxiang Zhang Jianwei Zhang Rong Liu Guanghua Zong Department TAMS Faculty of Computer Science University of Hamburg Hamburg Germany Robotics Institute School of Mechanical Engineering and Automation BeiHang University Beijing China

Taking Shanghai Science and Technology Museum as the operation target, the robot named skycleaner which is totally actuated by pneumatic cylinders and is sucked to the glass walls with vacuum suckers is presented. In order to solve the problems of lower stiffness and the nonlinear movement characteristic of the pneumatic system, a method of segment and variable bang-bang controller is proposed to implement the accurate control of the position servo system using the principle of pneumatic pulse width-modulation (PWM). Testing results show that the controller can effectively improve the control quality. This implies that the method can meet the requirements of realization.

关键词： Servosystems Glass Cleaning Robots Nonlinear control systems Control systems Pulse width modulation Vacuum technology Pneumatic systems Servomechanisms

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Position-sensing based a new docking system of RPRS

Position-sensing based a new docking system of RPRS

引用

International Conference on Control, automation, robotics and Vision (ICARCV)

作者： Liping Zhang Shugen Ma Bin Li Zheng Zhang Zaili Dong Binggang Cao School of Mechanical Engineering Xi''an Jiaotong University Xi'an China Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China FAculty of Engineering Ibaraki University Japan

ISBN: (纸本)0780386531

Docking is an essential function for reconfigurable planetary robot system (RPRS), it supports almost all metamorphic characteristics of the system. This paper presents a space docking method for self-reconfigurable modular robot system. The method adopts a position sensory detector (PSD) to get the space geometrical relation between modular child robots. By using the kinematics and inverse kinematics modeling of the child robot, a docking control algorithm is developed to achieve space dock automatically. To validate the method, simulation experiments were done on a platform based on OPENGL, and the simulating results were given as well.

关键词： robotics and automation Orbital robotics Robot sensing systems Detectors Kinematics Robotic assembly Mobile robots Oceans Optical receivers Infrared sensors

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Studies on lateral rolling locomotion of a snake robot

Studies on lateral rolling locomotion of a snake robot

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Li Chen Yuechao Wang Shugen Ma Bin Li Graduate School of Chinese Academy of Sciences China Robotics Laboratory Shenyang Institute of Automation Shenyang China Department of Systems Engineering Ibaraki University Hitachi Japan

A reconfigurable modular snake robot has been developed, which can not only move on a plane but aIso achieve some f-dimensional motions while reconfigured. Control equations of 3-dimensional locomotion were established by the composition of two bending motions in mutual orthogonal plane. Three types of lateral rolling locomotion, flapping, linear rolling and curved rolling, were achieved by controlling the amplitudes and the number of two waves in the two bending motions. Using the three types of locomotion the snake robot can realize net lateral translation, alternation of its contact base and rolling over some obstacles. The lateral rolling locomotion obtains its driving force through the interaction with the environment. The rolling shape and its direction depend on the transferring direction and phase difference of the two waves respectively.

关键词： Robots DC motors Orbital robotics robotics and automation Motion control Metalworking machines Laboratories Systems engineering and theory Equations Shape

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Locomotion control of a novel snake-like robot

Locomotion control of a novel snake-like robot

引用

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Ye, Changlons Ma, Shugen Li, Bin Wang, Yuechao Robotics Laboratory Shenyang Institute of Automation Nanta Street Shenyang 110016 China Shenyang University of Technology Xinghua Street Shenyang 110023 China Faculty of Engineering Ibaraki University 4-12-1 Naka-Narusawa-Cho Hitachi-Shi 316-8511 Japan Graduate School Chinese Academy of Sciences 100039 China

ISBN: (纸本)0780384636

It is essential to design a joint mechanism for snake-like robots to exhibit more mobility, no singularity and powerful actuation for many applications. By adding a series of passive wheels to the perimeter of the newly designed joint mechanism with 3 DOFs, a snake-like robot provided with the characteristic of omnidirectional mechanism can traverse rough terrain and compensate the lack of actuation due to passive wheels. The nonholonomic constraints and kinematics are analyzed as well as the redundancy. The composite motion method and grouping alternation motion control method are thus proposed for the locomotion of robot and the avoidance of singularity. Also, the grouping alternation motion adds a new explanation to the sinus lifting locomotion of natural snake. Computer simulations validate both mobility of mechanism and effectiveness of control methods.

关键词： Mobile robots

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引用

IEEE International Conference on robotics and Biomimetics

作者： Changlong Ye Shugen Ma Bin Li Yuechao Wang Shenyang University of Technology China Graduate School of Chinese Academy of Sciences China Robotics Laboratory Shenyang Institute of Automation China Faculty of Engineering Ibaraki University Japan

As a hyper-redundant robot, a 3D snake-like robot can perform many other configurations and types of locomotion adapted to environment except for mimicking the natural snake locomotion. The natural snake locomotion usually limits locomotion capability of the robot because of inadequacy in the mechanism and actuation to imitate characters of natural snake such as the too many DOFs and the characteristics of the muscle. In order to apply snake-like robots to the unstructured environment, the researchers have designed many gaits for increasing the adaptability to a variety of surroundings. The twist-related locomotion is an effective gait achieved by jointly driving the pitching-DOF and yawing-DOF, with which the snake-like robot can move on rough ground and even climb up some obstacles. In this paper, the twist-related locomotion function is firstly solved, and simplified to be expressed by sine or cosine function. The 2D locomotion such as V-shape and U-shape is achieved. Also by applying it to the serpentine locomotion or other types of locomotion, the snake-like robot can complete composite locomotion that combines the serpentine locomotion or others with twist-related locomotion. Then we extend the twist related locomotion to 3D space. Finally, the experimental results are presented to validate all above analyses

关键词： Propulsion robotics and automation Mobile robots Orbital robotics Kinematics Content addressable storage Muscles Animals Parallel robots Spine

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Turning and side motion of snake-like robot

Turning and side motion of snake-like robot

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Changlong Ye Shugen Ma Bin Li Yuechao Wang Shenyang University of Technology China Graduate School of Chinese Academy of Sciences China Robotics Laboratory Shenyang Institute of Automation Shenyang China Faculty of Engineering Ibaraki University Japan

With high adaptability to environments snakelike robots offer a variety of advantages over other mobile robots. Such a robot with passive wheels has quite different mechanism in locomotion from that of other locomotion systems. We have developed a snakelike robot for rescue applications. The unit composing the snakelike robot of Shenyang Institute of automation (SIA) is a module including actuating system and control system. To let the snakelike robot perform turning motion and compensate offset and orientation errors of the robot, we propose an amplitude modulation method and a phase modulation method based on analysis of the serpenoid curve. The side motion of the snakelike robot can also be generated by the amplitude modulation. The tracking control method is also proposed based on sensor information. Computer simulations and experimental tests are performed to show the validity of the proposed methods.

关键词： Turning Mobile robots robotics and automation Robot sensing systems Amplitude modulation Wheels Automatic control Control systems Motion analysis Computer errors

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