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Multi-sensor control for precise assembly of optical components

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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Cartesian path planning for base attitude adjustment of space robot

Cartesian path planning for base attitude adjustment of spac...

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IEEE International Conference on Mechatronics and Automation

作者： Minghe Jin Cheng Zhou Yechao Liu Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China

ISBN: (纸本)9781479970995

This paper presents a novel Cartesian path planning for space manipulator to achieve base (satellite) attitude adjustment and Cartesian task. The base attitude adjustment by the way of the movement of manipulator will save propellant compared with conventional attitude control system. A task-priority Reaction Null-space control method is applied to achieve the primary task to adjust attitude and secondary task to accomplish Cartesian task. Furthermore, The algorithm singularity is eliminated in the proposed algorithm compared with conventional Reaction Null-space algorithm and extended Jacobian algorithm. And the varied damping factors are introduced to avoid dynamics singularity. The simulation platform of the space robot control system based on Matlab/Simulink is built. The simulation results demonstrate the validity and feasibility of the proposed Cartesian path planning algorithm.

关键词： Aerospace electronics Jacobian matrices Manipulator dynamics Attitude control Heuristic algorithms

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A distributed self-reconfiguration method combining Cellular Automata and L-systems

A distributed self-reconfiguration method combining Cellular...

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IEEE International Conference on robotics and Biomimetics

作者： Dongyang Bie Jie Zhao Xiaolu Wang Yanhe Zhu Yanhe Zhu Author is a professor at State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467396769

Self-reconfiguration of self-reconfigurable robots is a fundamental primitive that can be used as part of higherlever functionality. A distributed control mechanism is proposed for self-reconfiguration, which uses the Lindenmayer systems (L-systems) for global configuration description and cellular automata for local motion planning. Turtle graphics are taken for structure interpretation of L-systems and provide moving targets for decentralized modules. The modules are led to their final positions using a gradient approach. The mechanism takes a split where distributed locomotion aspects of the control is managed by cellular automata, while global description in Lsystems. Turtle interpretations can generate module-level predictions from global description. The convergence of proposed method is verified through simulations.

关键词： moving targets decentralized verified through

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Fast filtering algorithm based on vibration systems and neural information exchange and its application to micro motion robot

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Chinese Physics B 2014年第1期23卷 159-169页

作者：高娃查富生宋宝玉李满天 State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Mechanical Design Harbin Institute of Technology

This paper develops a fast filtering algorithm based on vibration systems theory and neural information exchange approach. The characters, including the derivation process and parameter analysis, are discussed and the feasibility and the effectiveness are testified by the filtering performance compared with various filtering methods, such as the fast wavelet transform algorithm, the particle filtering method and our previously developed single degree of freedom vibration system filtering algorithm, according to simulation and practical approaches. Meanwhile, the comparisons indicate that a significant advantage of the proposed fast filtering algorithm is its extremely fast filtering speed with good filtering perfi^rmance. Further, the developed fast filtering algorithm is applied to the navigation and positioning system of the micro motion robot, which is a high real-time requirement for the signals preprocessing. Then, the preprocessing data is used to estimate the heading angle error and the attitude angle error of the micro motion robot. The estimation experiments illustrate the high practicality of the proposed fast filtering algorithm.

关键词： fast filtering vibration system neural information exchange micro motion robot

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Biomimetic Design and Optimal Swing of a Hexapod Robot Leg

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Journal of Bionic Engineering 2014年第1期11卷 26-35页

作者： Jie Chen Yubin Liu Jie Zhao He Zhang Hongzhe Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China

Biological inspiration has spawned a wealth of solutions to both mechanical design and control schemes in the efforts to develop agile legged machines. This paper presents a compliant leg mechanism for a small six-legged robot, HITCR-ll, based on abstracted anatomy from insect legs. Kinematic structure, relative proportion of leg segment lengths and actuation system were analyzed in consideration of anatomical structure as well as muscle system of insect legs and desired mobility. A spring based passive compliance mechanism inspired by musculoskeletal structures of biological systems was integrated into distal segment of the leg to soften foot impact on touchdown. In addition, an efficient locomotion planner capable of generating natural movements for the legs during swing phase was proposed. The problem of leg swing was formulated as an optimal control procedure that satisfies a series of locomotion task terms while minimizing a biologically-based objective function, which was solved by a Gauss Pseudospectral Method （GPM） based numerical technique. We applied this swing generation algorithm to both a simulation platform and a robot prototype. Results show that the proposed leg structure and swing planner are able to successfully perform effective swing movements on rugged terrains.

关键词： biomimetic design legged robot optimal control biological movement principle Gauss pseudospectral method

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Improving convergence of ICP for registering RGB-D images using hierarchical index

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Journal of Computational Information systems 2015年第1期11卷 27-35页

作者： Li, Xingdong Wang, Pengfei Zha, Fusheng Li, Mantian Guo, Wei Sun, Lining 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

Relative 6 DOF pose transformation is necessary for registering two RGB-D images. Although the Iterative Closest Point (ICP) algorithm has been widely used to solve the relative pose, it would be enhanced significantly if the characteristic of its application object has been fully considered. This paper concentrates on improving the convergence of ICP for estimating the pose transformation between two RGB-D images, and the divergence problem is avoided. A hierarchical index is proposed to search corresponding point used by ICP. A measurement of convergence rate is firstly proposed for comparison. ©, 2014, Journal of Computational Information systems. All right reserved.

关键词： Iterative methods

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Design and development of a rotary serial elastic actuator for humanoid arms

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2014年 8917卷 266-277页

作者： Huo, Xijian Xia, Yanfeng Liu, Yiwei Jiang, Li Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

The paper discusses the design of a novel serial elastic actuator (SEA) which is used as the revolute joint in humanoid arms. First, characteristics and requirements of SEA are illustrated. And the elastic element is further analyzed using the design of experiment (DOE) method. Then, a discoid elastic element with larger flexibility is developed. Based on this, an integrated SEA containing the position sensors and the torque sensor is developed. And also, a 7-DOF humanoid arm with joint flexibilities is designed. Finally, experiments of SEA demonstrate the approximation of the stiffness between the desired SEA and the prototype. © Springer International Publishing Switzerland 2014.

关键词： Design of experiments

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Velocity estimation for quadrupeds based on extended kalman filter

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key Engineering Materials 2014年 621卷 525-532页

作者： Li, Mantian Wang, Congwei Wang, Pengfei Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin 150001 China

ISBN: (纸本)9783038351863

Measuring robots' real-time velocity correctly is important for locomotion control. Inertial Measurement Unit (IMU) is widely used for velocity measurement. Limited by the bias and random error, IMU alone often can't meet the requirement. This paper makes use of Extended Kalman Filter (EKF) to fuse kinematics and IMU, and inhibits the drift successfully. We calibrate the bias and recognize the random errors of IMU. Then the forward kinematics of legs is established and the EKF algorithm for velocity estimation is designed based on IMU and kinematics. Finally, the presented algorithm is validated in simulation and on a quadruped robot based on hydraulic driver in trotting gait. © (2014) Trans Tech Publications, Switzerland.

关键词： Extended Kalman filters

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A Prototype of a Biomimetic Mantle Jet Propeller Inspired by Cuttlefish Actuated by SMA Wires and a Theoretical Model for Its Jet Thrust

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Journal of Bionic Engineering 2014年第3期11卷 412-422页

作者： Fei Gao Zhenlong Wang Yukui Wang Yangwei Wang Jian Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 Heilongjiang P. R. China

The cuttlefish have higher swimming speed and more maneuverability than most of the fish mainly benefiting from their unique jet propulsion mechanism, which is realized by the contraction and expansion of their flexible mantle. However it is difficult to mimic this jet propulsion mechanism using conventional electro-mechanical structures. In this paper, the musculature of the cuttlefish mantle and how the mantle flexibly contracts and expands were analyzed first. Then the Shape Memory Alloy（SMA） wires were chosen as the actuators and the soft silica gel was chosen as the body materials to develop a biomimetic mantle jet propeller. The SMA wires were embedded within the soft silica gel formed with cuttlefish mantle shape along the annular direction to mimic the circular muscles of cuttlefish mantle. The water was squeezed out the mantle cavity to form rear jets when the biomimetic mantle was contracted by SMA wires. A mechanical model and a thermal model were established to analyze the jet thrust and the jetting frequency. Theoretical analysis shows that the jet thrust is proportional to the square of the rate of change of SMA strain. Increasing the driving voltage can improve the rate of change of SMA strain, thus can improve both the jet thrust and the jetting frequency. However the j etting frequency is mainly restricted by the cooling of SMA wires. To maximize the jetting frequency, the optimal driving parameters for different driving voltage were calculated. The propulsion performance was tested and the results show that the jet thrust can increase with the driving voltage as predicted and the maximum average jet thrust is 0.14 N when the driving voltage is 25 V. The swimming test was carried out to verify the feasibility of the novel design. It is shown that the biomimetic jet propeller can swim with higher speed as the jet thrust and jetting frequency increase and the maximum speed can reach 8.76 cm·s^-1 （0.35 BL·s^-1） at a jetting frequency of 0.83 Hz.

关键词： cuttlefish biomimetic jet thrust shape memory alloy

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Study on the exciting method for piezoelectric actuator using bending hybrid modes

Study on the exciting method for piezoelectric actuator usin...

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SPAWDA Symposium on Piezoelectricity, Acoustic Waves, and Device Applications

作者： Ding-wen Wang Ying-xiang Liu Wei-shan Chen Jun-kao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province P. R. China

A new bending-hybrid-modes piezoelectric actuator was designed, and analyzed. The two operating principles using the whole piece of PZT ceramic plates were discussed, and compared with the traditional operating principle using the half piece of PZT ceramics. The effects of the no polarization part on the bending resonance frequencies were studied by modal analysis. Then, harmonic analysis was developed to obtain the electromechanical coupling factor. The effect of the size of no polarization part on the electromechanical coupling factor was obtained. As last, the vibration trajectories of the two tip ends were investigated by transient analysis. The two tip ends generated elliptical movements when the two bending vibrations were superimposed. The study gives detail discussion about the exciting methods for bending vibration of a bolt-clamped transducer. The analysis results can guide the design of the piezoelectric actuator using bending hybrid modes.

关键词： Ceramics Vibrations Resonant frequency Piezoelectric actuators Couplings Acoustics

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