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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Chao Chen Haibo Gao Liang Ding Zongquan Deng Haitao Yu Zhen Liu Nan Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781538604915

Wheeled mobile robots (WMRs) often suffer from the slipping when moving on the loose soil of the surface of the moon during exploration, which are the main causes of WMRs' delay in path tracking. In this paper, an improved linear active disturbance rejection control (LADRC) is introduced to control a WMR in tracking a desired trajectory based on the kinematic model of WMRs with the longitudinal and lateral slippage. The tracking differentiator and nonlinear feedback combination is employed in improved LARDC in order to improve the efficacy of the controller. Furthermore, the method of defining system parameters is discussed. With ADRC controller, the coupling kinematic system is decoupled to three first-order systems, which can use the same controller with little parameters adjustment. Finally, simulation experiments are carried out and the simulation results demonstrate the effectiveness of the controller, which exhibits a satisfactory tracking performance.

关键词： Kinematics Mobile robots Wheels Robust control Soil Trajectory tracking Robust control kinematics trajectory tracking wheeled mobile robots Wheels Mobile robots Sliding tracking control Controllers parameter adjustment tracking Soil Loose soils visual tracking

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A novel actuation configuration of robotic hand and the mechanical implementation via postural synergies

A novel actuation configuration of robotic hand and the mech...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yuan Liu Li Jiang Shaowei Fan Dapeng Yang Jingdong Zhao Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

How to design a robotic hand for reproducing the move characteristics of human hand joints is a big challenge in robotics. In this paper, we present an approach to determine the actuation configuration based on the statistical results of hand joint angle in different grasps. A relationship between the basic statistical metrics and actuation configuration strategies is built. In this case, a novel actuation configuration is proposed and the joints of four fingers are arranged into five actuation modules. For the mechanical implementation, the motion of human four finger joints is decomposed to proportion motion, differential motion and chain proportion motion, mechanically implemented by pulley, planetary gear differential module and gear transmission chain. Finally, the implemented mechanism is embedded in palm, and the mechanical implementation to the human hand move characteristics is verified by the measured joint angles of the robotic hand when actuators separately move along PC1 and PC2. Meanwhile, the robotic hand can grasp different objects with a versatile grasp function.

关键词： Conferences Automation

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Quantitative dispensing model and experimental study of high viscosity multi-component adhesive

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AIP Conference Proceedings 2019年第1期2154卷

作者： Yifei Bu Yugang Liu Zhanjing Li Weibin Rong Lining Sun 1State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China 2Xi’an Flight Automatic Control Research Institute Aviation Industry Corporation of China Xi’an 710071 China

Aiming at the phenomenon that high-viscosity multi-component adhesives are difficult to control due to viscosity changes, a mechanism using piston to dispense is designed. By analyzing the flow properties of multi-component adhesives, a consistency coefficient related to the mixing time of each component of the glue is introduced to the shear stress of the colloidal by its physical meaning, so the viscosity changes could be characterized during the dispensing process. The model of the dispensing system was established by the viscous fluid mechanics and the estimation function of the flow rate out of needle was given. According to the experimental verification of the specific adhesive, the dispensing system designed in this paper can directly control the amount of dispensing by adjusting the motor pulse frequency and the dispensing time. In the case, the simulation results are basically consistent with the experimental results, and the flow error can be kept within 10−9m3/s to realize the quantitative dispensing of the high-viscosity multi-component adhesive.

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Research on service robots robust relocalization algorithm based on 2D/3D map of indoor environment

Research on service robots robust relocalization algorithm b...

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International Conference on Advanced robotics (ICAR)

作者： Li Wang Ruifeng Li Lijun Zhao Zhenghua Hou Xiaoyu Li Zhenye Sun State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin China

ISBN: (纸本)9781538631584

An indoor service robot can establish a 3D map of the environment by a visual sensor. When the robot uses the established map again, there is a situation that the robot's view is in a new position and the relative position of the map can not be obtained. A relocalization algorithm based on multi-dimensional map information is proposed to solve the problem. Based on the established 3D environment map, the algorithm samples a 2D map and matches the map with the 2D observation information of the current frame based on the particle filter algorithm to obtain the robot's initial position. Then, the target point cloud corresponding to the current frame is segmented in the 3D map, and the exact pose relationship between the current frame cloud and the target point cloud is calculated by the iterative closest point algorithm. The SVD decomposition and g2o optimization are used in the method to improve the computational efficiency and accuracy. Finally, the relocalization experiments under the wide range of robot perspective are carried out in the indoor environment. The results verify the effectiveness and robustness of the algorithm.

关键词： Three-dimensional displays Simultaneous localization and mapping Visualization Robot kinematics Two dimensional displays

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system Identification in Adaptive Inverse Control for Electrohydraulic Shaking Table Using Variable Tap-Length NLMS Algorithm

System Identification in Adaptive Inverse Control for Electr...

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International Conference on Mechanical, Automotive and Materials Engineering (CMAME)

作者： Man Wang Dacheng Cong Zhidong Yang Changhong Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

Adaptive inverse control (AIC) is an advanced control technology which can efficiently learn and control the severely nonlinear and real-time plant, such as the electrohydraulic shaking table (EST). The foundation of AIC is the system identification of the plant via an adaptive filer. The traditional adaptive filter theory is known as a fixed tap-length (length of the weight vector) FIR (Finite impulse response) filter whose weights change by adaptive algorithm automatically. The mismatch between plant and the fixed tap-length will cause inaccuracy or compute complexity. This paper introduce a variable tap-length NLMS (VTLNLMS) algorithm to find the optimum tap-length (OPTL) of the model of multi-DOF EST, then use AIC to improve the accuracy of time wave replication. The dynamics response nonlinear model of the EST is built to reflect the experimental situation. The nonlinear EST model and referred algorithm are simulated in MATLAB/Simulink. Results show the AIC with OPTL is effective in the EST.

关键词： Mathematical model Actuators Adaptive filters Valves system identification Adaptive systems

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system Identification in Adaptive Inverse Control for Electrohydraulic Shaking Table Using Variable Tap-length NLMS Algorithm

System Identification in Adaptive Inverse Control for Electr...

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2017 5th International Conference on Mechanical, Automotive and Materials Engineering（CMAME 2017）

作者： Man Wang Dacheng Cong Zhidong Yang Changhong Gao State Key Laboratory of Robotics and System School of Mechatronics EngineeringHarbin Institute of Technology

Adaptive inverse control（AIC） is an advanced control technology which can efficiently learn and control the severely nonlinear and real-time plant,such as the electrohydraulic shaking table（EST）.The foundation of AIC is the system identification of the plant via an adaptive *** traditional adaptive filter theory is known as a fixed tap-length（length of the weight vector） FIR（Finite impulse response） filter whose weights change by adaptive algorithm *** mismatch between plant and the fixed taplength will cause inaccuracy or compute *** paper introduce a variable tap-length NLMS（VTLNLMS） algorithm to find the optimum tap-length（OPTL） of the model of multi-DOF EST,then use AIC to improve the accuracy of time wave *** dynamics response nonlinear model of the EST is built to reflect the experimental *** nonlinear EST model and referred algorithm are simulated in MATLAB/*** show the AIC with OPTL is effective in the EST.

关键词： Adapative Inverse Control Electrohydraulic Shaking Table Variable Tap-length Nl MS Nonliner system system Identification

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Linear-hall sensor based force detecting unit for lower limb exoskeleton

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AIP Conference Proceedings 2018年第1期1955卷

作者： Hongwu Li Yanhe Zhu Jie Zhao Tianshuo Wang Zongwei Zhang Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang China

This paper describes a knee-joint human-machine interaction force sensor for lower-limb force-assistance exoskeleton. The structure is designed based on hall sensor and series elastic actuator (SEA) structure. The work we have done includes the structure design, the parameter determination and dynamic simulation. By converting the force signal into macro displacement and output voltage, we completed the measurement of man-machine interaction force. And it is proved by experiments that the design is simple, stable and low-cost.

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Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches

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IOP Conference Series: Materials Science and Engineering 2018年第1期320卷

作者： Z X Yang W L Yang Z J Du State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China

Single port surgical robot (SPSR) is a giant leap in the development of minimally invasive surgical robot. An innovative manipulator with high control accuracy and good kinematic dexterity can reduce wound, expedite recovery, and improve the success rate. This paper presents a tendon-driven continuum manipulator with crossed notches. This manipulator has two degrees of freedom (DOF), which possesses good flexibility and high capacity. Then based on cantilever beam theory, a mechanics model is proposed, which connects external force and deformation of a single flexible ring (SFR). By calculating the deformation of each SFR, the manipulator is considered as a series robot whose joint numbers is equal to SFR numbers, and the kinematics model is established through Denavit-Hartenberg (D-H) procedure. In this paper, the total manipulator is described as a curve tube whose curvature is increased from tip to base. Experiments were conducted and the comparison between theoretical and actual results proved the rationality of the models.

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Design of Control system for Vibration Isolation Platform Based on Parallel Mechanism

Design of Control System for Vibration Isolation Platform Ba...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Shuai Wang Ruochen Niu Bing Li Hailin Huang Shenzhen Graduate School Harbin Institute of Technology State Key Laboratory of Robotics and System (HIT)

ISBN: (纸本)9781538604915

An active passive vibration isolation platform (VIP) based on 4PUS-PS~* parallel mechanism was proposed. The movement characteristics of the mechanism and the hardware design of control system were discussed. Considering the application background, we developed the software of control system. The whole control strategy applied the architecture of "IPC+EtherCAT". First of all, the whole distribution scheme was proposed and the system's deliver approach of the data was analyzed. Then, the hardware of the control system was built. Based on the five-layer architecture of the software which was carried out in the whole control plan, the presentation layer achieved human-computer interaction;the control system realized the whole process control and determined the control strategy of the system;the model layer conducted function encapsulation and function integration of the hardware;communication layer managed communication mode and information routing;the hardware layer completed its hardware configuration management and diagnosis. Also, the key control strategy and the key functional modules of the control system were analyzed in this layer. Finally, the movement control and vibration isolation test were conducted.

关键词： control systems control strategy vibration damping platform hardware layer communication modes computer hardware design computer software configuration management

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Dual-SLIP Model Based Galloping Gait Control for Quadruped Robot: A Task-Space Formulation

Dual-SLIP Model Based Galloping Gait Control for Quadruped R...

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American Control Conference

作者： Haitao Yu Haibo Gao Zeyang Fan Zongquan Deng Lixian Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology School of Astronautics Harbin Institute of Technology

ISBN: (纸本)9781509045839

This paper presents a novel locomotion control framework that achieves stable galloping gait for a torque-controlled quadruped robot. By analytically exploiting the stance dynamics of the Spring-Loaded Inverted Pendulum (SLIP) model, a two-layered Dual-SLIP model based Task-space Formulation (DS-TSF) is developed to control the 12-DoF quadruped robot with an active spine. On the higher layer, a dead-beat controller based on the derived Approximate Apex Return Map (AARM) with guaranteed high prediction accuracy is devised to provide desired apex state. This reference SLIP-like behavior serves as the target Center of Mass (CoM) trajectories of the fore- and hind-body of the quadruped robot. On the lower layer, a prioritized multi-task controller is further developed to enforce the dual-CoMs of the fore- and hind-body to behave following the target dynamics of two uncoupled SLIP hoppers on sagittal plane. The compatible motion control of the active spinal joint is fulfilled on the null-space of the prior task without generating confliction. The simulation results have demonstrated the effectiveness of the proposed locomotion control method.

关键词： quadruped robot Galloping Gait control Motor Control Locomotion

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