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International Conference on Mechanical Engineering, Automation and Control systems

作者： Lidong Yang Yanjie Liu Haijun Han State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467381154

Improving the tracking accuracy of industrial robot is an important task for many motion control applications. This paper proposes a novel trajectory tracking method for serial industrial robot based on cross-coupled synchronizing control. Instead of improving the tracking accuracy for individual axes, we present a variable-weight position synchronous error, which can reduce the influence of dynamic nonlinearity through adjusting the error of each axis according to robot's inertia distribution. Then a proportional and derivative (PD)-type synchronizing controller with cross-coupled structure is proposed and proven to guarantee asymptotic convergence to zero of both position and synchronization errors. Simulations conducted on a three-axis industrial robot demonstrate the effectiveness of the method.

关键词： cross-coupled control synchronous error serial industrial robot trajectory tracking

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A crossbeam linear ultrasonic motor using bending vibrations

A crossbeam linear ultrasonic motor using bending vibrations

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IEEE International Symposium on Applications of Ferroelectrics (ISAF)

作者： Dongmei Xu Yingxiang Liu Junkao Liu Weishan Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479999750

A crossbeam linear ultrasonic motor with length of 38 mm and diameter of 11 mm is proposed in this paper. Eight pieces of PZT ceramic plates with size of 10mm×3mm×1mm are glued to metal base to form stator. PZT ceramic plates are divided into two groups and excited by sine and cosine voltages respectively. The proposed motor generates elliptical movements at two driving feet by superimposing of two first bending vibration modes. The two first bending vibration modes have same resonance frequency as the symmetrical structure of the stator, which avoids modal degeneration. Working principle of the motor is introduced, and vibration modal and transient analyses by finite element method are developed in this paper. Sine and cosine voltages with effective value of 100 V at frequencies of 35.596 kHz are applied to the stator model. Transient analysis results show that motion trajectories of particles on driving feet are three-dimensional ellipse. The particles' maximum displacements in OX, OY and OZ directions are about 3.0 μm, 3.0 μm and 0.5 μm, respectively. Amplitude of OZ direction is about 16.7% of OX and OY directions, which demonstrates that elliptical motion in the XOY plane is fit to drive the rotor.

关键词： Acoustics Vibrations Trajectory Stators Resonant frequency Finite element analysis Actuators

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Passivity based control of flexible joint robot with dynamic friction compensation 11

Passivity based control of flexible joint robot with dynamic...

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2014 11th World Congress on Intelligent Control and Automation, WCICA 2014

作者： Zhang, Qi Zongwu, Xie Kui, Sun Yang, Haitao Jin, Minghe Cai, Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

As the friction has a great effect on the performance of low speed and low stiffness impedance control of flexible joint robot, a modified Dahl friction model is adopted, and a friction observer is proposed to compensate the friction based on interconnection and damping assignment passivity based control (IDA-PBC) method. The dynamics friction compensation not only improves the position and force tracking performance, but also assures the stability of the system. Finally, experiments are carried out on a 6-DOF anthropomorphic manipulator to verify the compensation. The results show that position accuracy as well as torque vibration of the flexible joint system are evidently improved in the position control. In addition, the force tracking ability of impedance control is also improved by the friction compensation. © 2014 IEEE.

关键词： Dynamic friction compensation Flexible joint control Interconnection and damping assignment passivity based control

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Pose measurement of robot arm end based on laser range finders

Pose measurement of robot arm end based on laser range finde...

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

作者： Hong Liu Yu Zhang Kui Sun Shaowei Fan Jiawei Chen The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A pose measurement system based on laser range finders for robot is proposed to measure the pose of target for robot arm manipulating. Laser range finder for robot is developed based on the triangulation ranging theory, which is highly integrated with a wide range and a shorter minimum measurement range. The system of pose measurement, three-dot measuring, is composed of three laser range finders emitting three parallel laser beams, which is used to measure the pose of plat surface. 3-degree of freedom of one range and two pose angles can be measured by the system. The method of pose measurement is practical and simple with high speed and low cost software and hardware. The experiment of pose measurement in the robot arm is carried out. The results show that the pose measurement based on three laser range finders is feasible.

关键词： Measurement by laser beam Robot sensing systems Laser beams Measurement uncertainty Accuracy Size measurement

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A synthetic framework for evaluating the anthropomorphic characteristics of prosthetic hands

A synthetic framework for evaluating the anthropomorphic cha...

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

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

ISBN: (纸本)9781467391085

In order to improve the prosthetic hand's design and usability, this paper presents a synthetic framework for evaluating the current prosthetic hands' anthropomorphic features with 12 quantified prosthetic hand anthropomorphism evaluation indexes (QPHAEIs). Our primary results show that a global anthropomorphic score (GAS) of the current commercial prosthetic hands is only 45.2%. The compliance, coupling speed ratio and configuration of the degrees of freedom (DOF) are found to be the lowest three anthropomorphism evaluation indexes in all QPHAEIs. Besides these significant findings, a consideration priority order in prosthetic hand's anthropomorphic index design is also proposed. Further correlation analysis indicates that evaluation methods using rotation axis distribution, rather than experimental grasp gesture, are more reliable to measure a prosthetic hand's GAS.

关键词： Indexes Thumb Prosthetic hand Anthropomorphism Joints Electronics packaging

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Modeling and analysis of a superelastic elliptic flexure hinge using co-rotational beam elements

Modeling and analysis of a superelastic elliptic flexure hin...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Miao Yang Zhijiang Du Wei Dong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Compared with the conventional flexure hinges, the motion range of superelastic flexure hinges can be significantly increased, due to the material's superelasticity effect. In this paper, the deformation of superelastic elliptic flexure hinges is investigated by using finite element method (FEM). The superelastic behavior of the material is described by a bilinear one-dimensional constitutive model based on the experimental data. A Bernoulli beam element considering the variation of cross section, and the geometry and material nonlinearities is presented by using co-rotational approach. Equilibrium equations of the structure are constructed by beam elements and solved by the Newton-Raphson iterative method. Numerical results show that the proposed method agrees well with the results calculated by ANSYS, and also reduces the element number and the computation cost greatly. The maximum rotation angles and rotation errors of flexure hinges are also investigated by the co-rotational beam element with the variety of notch length and minimum thickness.

关键词： Fasteners Mathematical model Finite element analysis Strain Data models Geometry Structural beams

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A data-driven grasp planning method based on Gaussian Process Classifier

A data-driven grasp planning method based on Gaussian Proces...

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IEEE International Conference on Mechatronics and Automation

作者： Liyun Li Weidong Wang Yanyu Su Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479970995

This paper presents a grasp planning method for grasping novel objects from point clouds provided by the Kinect camera. By applying machine learning, the planning method can generate two points which represent the contact point and direction of grasp. This method is based on three components: 1) grasp configuration which can present the location of contact points and the direction of grasp, 2) features which take force closure and grasp stability into account, and 3) Gaussian Process Classifier which is used to calculate the grasp quality by using the features of each grasp configuration. Two experiments are carried out to verify our method. The results demonstrate that the robot using this approach can successfully grasp objects with partial point clouds.

关键词： Grasping Gaussian processes Three-dimensional displays Grippers Robots Feature extraction Probability

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Turning gait planning and simulation validation of a hydraulic hexapod robot

Turning gait planning and simulation validation of a hydraul...

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Haibo Gao Ma Jin Yiqun Liu Liang Ding Haitao Yu Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479987719

Gait planning is an important part of robotics research, and turning gait is an important and useful walking gait of a hexapod robot. But researches on turning gait of hexapod robots are limited. This paper presents the structure of a hydraulic hexapod walking robot. The coordinate of the leg is defined, and the positive and inverse kinematic equation of the leg is established. Foot trajectory based on cycloid during swing phase is planned, and the foot trajectory of support phase is also planned. A turning gait can be divided into the first half cycle and the second half cycle, and the turning gait based on tripod gait of the hexapod robot is planned. A virtual simulation platform for the hexapod robot is developed based on Vortex software. The platform consists of robot model module, manipulator and control module, terrain model module and foot-terrain interaction module. The simulation process is presented, and the turning gait is realized on the simulation platform. Finally, the simulation results show that the foot trajectory curves and the joint angle curves are smooth, and there is no conflict between the curves of six legs. The rationality and feasibility of the proposed method has been verified.

关键词： Legged locomotion Robot kinematics Foot Turning Trajectory Planning

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A review of heavy-duty legged robots

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Science China(Technological Sciences) 2014年第2期57卷 298-314页

作者： ZHUANG HongChao GAO HaiBo DENG ZongQuan DING Liang LIU Zhen State Key Laboratory of Robotics and System Harbin Institute of Technology

Heavy-duty legged robots have been regarded as one of the important developments in the field of legged robots because of their high payload-total mass ratio,terrain adaptability,and *** problems associated with the development and use of heavy-duty legged robots have motivated researchers to conduct many important studies,covering topics related to the mechanical structure,force distribution,control strategy,energy efficiency,***,heavy-duty legged robots have three main characteristics:greater body masses,larger body sizes,and higher payload-total mass ***,various heavy-duty legged robots and their performances are reviewed *** review presents the current developments with regard to heavy-duty legged ***,the main characteristics of high-performance heavy-duty legged robots are determined and conclusions are ***,the current research of key techniques of heavy-duty legged robots,including the mechanical structure,force distribution,control method,and power source,is *** assess the transportation capacity of heavy-duty legged robots,performance evaluation parameters are ***,problems that need further research are addressed.

关键词： heavy-duty legged robot mechanical structure force distribution control method power source

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Research on the degree of freedom control strategy for redundant-drive shaking tables

Research on the degree of freedom control strategy for redun...

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Lianpeng Zhang Yu Yang Chifu Yang Junwei Han State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479987719

Redundant-drive shaking tables composed of more than one shaking tables are indispensible test equipments for anti-seismic study of long-span structures and are experiencing rapid development recently. However, the control strategy of the shaking tables system is greatly complex and there isn't a common accepted method now. This paper proposed two degree of freedom(DOF) control strategies for the shaking tables system composed of two identical redundant-drive electro-hydraulic servo shaking table: six DOFs control strategy and twelve DOFs control strategy. According to different control principles, build two kinds of coordinates, derive the geometric motion relationship of the platform or load and the hydraulic cylinders, and then use zero-position geometric linearity technique to obtain simplified coordinate transformation matrixes between platform or load motion space and the hydraulic cylinders space. The control system model with DOF control strategy and dynamic model of the shaking tables are built using the Matlab/Simulink and SimMechanics software. Simulation experiments are carried out and the test results indicate that both the control strategies can realize the accurate motion of the platform and verify the feasibility and validity of the proposed control strategies. In the end, this paper compared the two DOF control strategies and analyzed the advantages and disadvantages of each control strategy.

关键词： Load modeling Matrix decomposition Acceleration Aerospace electronics Software Fasteners

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