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Ethercat slave controller via an asynchronous 16 bit μController algorithm based on FPGA

ICIC Express Letters, Part B: Applications 2014年第2期5卷 421-426页

作者： Jiang, Li Hou, Mingxin Zhang, Yuanfei Chen, Zhaopeng Liu, Hong School of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 West Da-Zhi Street Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany

A novel 16 bit Asynchronous μController based on FPGA state machine algorithm for the EtherCAT Slaved during write and read access is described in this paper. The present study focuses on the Schematic of μController interconnection between FPGA and ESC based on the VHDL state machine algorithm, which includes fifteen states. In addition, the performance of the Asynchronous μController was verified through numerical simulations. Finally, we found the simulations give further evidence that the 16 bits Asynchronous μController signals can satisfy two write access and a read accesses requirements for the EtherCAT Slave Controller. © 2014 ISSN 2185-2766.

关键词： Field programmable gate arrays (FPGA)

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Biomimetic inspiration for PKM torso design in humanoid robots

Biomimetic inspiration for PKM torso design in humanoid robo...

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IEEE International Conference on Mechatronics and Automation

作者： Hulin Huang Ceccarelli Marco Weimin Zhang Qiang Huang Zhangguo Yu Xuechao Chen Ministry of Education Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino Italy Ministry of Education International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781479970995

A new torso design of humanoid robot is proposed as a 3-DOF PKM (Parallel Kinematic Manipulator) structure by using results of a biomimetic analysis of torso in humans and animals. Main characteristics of torso in nature are presented from which design requirements are outlined for a solution in humanoid robot. The PKM torso is consist of two platforms and four UPU mechanisms. The usefulness of such a biomimetic inspiration is proved by a numerical simulation of the proposed PKM torso in its basic movements.

关键词： Torso Humanoid robots Joints Thorax Horses Payloads

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Dynamic analysis and optimization for wafer handling robot

Dynamic analysis and optimization for wafer handling robot

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2014 3rd International Conference on Intelligent system and Applied Material, GSAM 2014

作者： Wu, Ming Yue Liu, Yan Jie Cai, He Gao Harbin Institute of Technology Harbin 150001 China State Key Laboratory of Robotics and System Harbin 150080 China

ISBN: (纸本)9783038350361

Aiming at suppressing the vibration of low-frequency, a procedure of dynamic optimization of wafer handling robot is presented. The dynamic model of wafer handling robot is firstly build, and following that the dynamic characteristics of the robot are analyzed to find the main parameters which will influence the natural frequency. Then, the numerical procedure of the optimization of the natural frequency is introduced, and the constraint functions are obtained by considering the workspace and the structure of the robot. And at the end, as a case study, the procedure is applied to a wafer handling robot. Optimization result shows that the natural frequency is enhanced to 32.56Hz after the optimization. © (2014) Trans Tech Publications, Switzerland.

关键词： Natural frequencies

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SIFT algorithm-based 3D pose estimation of femur

SIFT algorithm-based 3D pose estimation of femur

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作者： Zhang, Xuehe Zhu, Yanhe Li, Changle Zhao, Jie Li, Ge State Key Laboratory of Robotics and System Harbin Institute of Technology 2 Yikuang Street Harbin Heilongjiang China

To address the lack of 3D space information in the digital radiography of a patient femur, a pose estimation method based on 2D-3D rigid registration is proposed in this study. The method uses two digital radiography images to realize the preoperative 3D visualization of a fractured femur. Compared with the pure Digital Radiography or Computed Tomography imaging diagnostic methods, the proposed method has the advantages of low cost, high precision, and minimal harmful radiation. First, stable matching point pairs in the frontal and lateral images of the patient femur and the universal femur are obtained by using the Scale Invariant Feature Transform method. Then, the 3D pose estimation registration parameters of the femur are calculated by using the Iterative Closest Point (ICP) algorithm. Finally, based on the deviation between the six degrees freedom parameter calculated by the proposed method, preset posture parameters are calculated to evaluate registration accuracy. After registration, the rotation error is less than l.5, and the translation error is less than 1.2 mm, which indicate that the proposed method has high precision and robustness. The proposed method provides 3D image information for effective preoperative orthopedic diagnosis and surgery planning. © 2014 - IOS Press and the authors.

关键词： Computerized tomography

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Self-Propulsion: Superfast Near-Infrared Light-Driven Polymer Multilayer Rockets (Small 5/2016)

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Small 2016年第5期12卷

作者： Zhiguang Wu Tieyan Si Wei Gao Xiankun Lin Joseph Wang Qiang He State Key Laboratory of Robotics and System (HIT) Micro/Nanotechnology Research Center Harbin Institute of Technology Harbin 150080 China Department of Nanoengineering University of California San Diego La Jolla CA 92093 USA Electrical Engineering and Computer Sciences University of California Berkeley CA 94720 USA

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Study on linear vibration model of shield TBM cutterhead driving system

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International Journal of Acoustics and Vibrations 2014年第2期19卷 89-106页

作者： Li, Xianhong Yu, Haibin Zeng, Peng Yuan, Mingzhe Han, Jianda Sun, Lanxiang Key Laboratory of Industrial Control Network and System Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province 110016 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province 110016 China

In this paper, a general linear time-varying multiple-axis (LTVMA) vibration model of shield tunnel boring machine (TBM) cutterhead driving system is established. The corresponding multiple inputs and multiple outputs (MIMO) state-space model is also presented. The linear vibration model is analysed, and the vibration-torque transfer function matrix and the vibration-torque static gain matrix are obtained. The linear vibration model is simulated, and the physical parameters' effects on the vibration response are investigated. A preliminary approach is proposed to reduce vibration by increasing motor rotor inertia and viscous damped. The LTVMA vibration model provides a solid foundation for fault detection and diagnosis (FDD), as long as the health monitoring of cutterhead driving system.

关键词： Fault detection

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Shared control for teleoperation enhanced by autonomous obstacle avoidance of robot manipulator

Shared control for teleoperation enhanced by autonomous obst...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Xinyu Wang Chenguang Yang Hongbin Ma Long Cheng Centre for Robotics and Neural Systems Plymouth University Plymouth UK State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

In this paper, a human robot shared control strategy is developed and tested on a Baxter robot. Using the proposed method, the human operator only needs to consider the motion of the end-effector of the manipulator, while the manipulator will avoid obstacle by itself without sacrificing the end effector motion performance. An improved obstacle avoidance strategy based on the joint space redundancy of the manipulator is designed. A dimension reduction method is presented to solve the over defined problem of avoiding velocity to achieve a more efficient use of the redundancy. By employment of an artificial parallel system of the teleoperate manipulator and the task switching weighting factor, the proposed control method enable the robot restoring back to the commanded pose smoothly when the obstacle is removed. By implementing the dimension reduction method, the trajectory of each joint of the manipulator can be controlled at the same time to achieve the restoring task. Thus, the proposed control method can eliminate the impact of the obstacle on the remaining task. Satisfactory experiment results demonstrate the effectiveness of the proposed methods.

关键词： Manipulators Collision avoidance Robot kinematics Trajectory Kinematics Robot sensing systems

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An adaptive fuzzy sliding mode control for minimally invasive surgical robot's remote center mechanisms

An adaptive fuzzy sliding mode control for minimally invasiv...

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2014 IEEE International Conference on Information and Automation, ICIA 2014

作者： Shuizhong, Zou Bo, Pan Yili, Fu Shuguo, Wang Shuxiang, Guo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of Intelligent Robotics Kagawa University Takamatsu City Kagawa Prefecture Japan

ISBN: (纸本)9781479941001

Being the most important component of minimally invasive surgical robot system, remote centre mechanisms (RCM) composed of three joints, achieve the position and orientation adjustment of the surgical instrument inside a patient's body. In order to implement the high-precision position control and eliminate the adverse effect result from the friction of RCM's joints, in this paper, a fuzzy sliding mode controller with the friction compensation is designed. The result of simulation and experiment show that the controller designed can provide a trajectory tracking with real-time, high-precision performance and strong robustness.

关键词： Friction Fuzzy systems Joints Manipulators Robustness Sliding mode control Trajectory Adaptive fuzzy sliding mode control Friction compensation Minimally invasive surgical robot Remote centre mechanisms

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Nonlinear force distribution for multi-finger robot hand using impedance control based on EtherCAT

Nonlinear force distribution for multi-finger robot hand usi...

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International Conference on Machine Tool Technology and Mechatronics Engineering, ICMTTME 2014

作者： Hou, Ming Xin Jiang, Li Chen, Zhao Peng School of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinHeilongjiang China Institute of Robotics and Mechatronics German Aerospace Center Munich Germany

ISBN: (纸本)9783038352464

A novel strategy of online force distribution for multi-finger robot hand is developed based on impedance control. The real-time controller system including the finger dynamics and multi-fingers constraints is considered as a nonlinear system. Because when the robot hand grasps the object, the fingertip force is usually changed which could cause the grasp unstable. Our method gains the ability to deal with online grasping force distribution and can satisfy the real-time requirements at the same time. Experiment shows that our method provides the most feasible grasp configurations in real-time performance. © (2014) Trans Tech Publications, Switzerland.

关键词： Robotic arms

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Coaxial adjustment in PMF alignments

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Guangxue Jingmi Gongcheng/Optics and Precision Engineering 2014年第1期22卷 125-131页

作者： Zhang, Wei Wang, Le-Feng Rong, Wei-Bin Sun, Li-Ning State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

When polarization axes of Polarization Maintaining Fibers (PMF) are detected by micro-vision methods in PMF alignment, the rotation axes of fibers must be in the focal plane of the microscope. Therefore, a coaxial adjustment system was designed to adjust the relative position of the fiber to a motorized rotation stage. The distance between the fiber core and the center of rotation stage was detected by the micro-vision and the precise motion of motorized linear stage, and then, based on the image information, the two-dimensional manual linear stages were used to perform the adjustment. After the adjustment, the coaxial error was computed theoretically. Based on the micro-vision, an adjustment system was designed for the experiments. The Cartesian coordinate system was established by taking the center of the motorized rotary stage as the origin. Then, the equation of the straight line of the fiber center and its intercept were obtained by image processing and the least square method, further the distance between fiber center and rotary stage was determined. Moreover, the gray-scale difference function based on image threshold was taken as a sharpness function, and the influence of white noise was effectively eliminated. Experimental results show that the coaxial error between the fiber and the rotary stage is 3 μm after adjustment, which proves that the system can be applied to the detection of the optical fiber polarization axis.

关键词： Image processing

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