检索结果-内蒙古大学图书馆

Development of space end-effector with capabilities of misalignment tolerance and soft capture based on tendon-sheath transmission system

引用

Journal of Central South University 2013年第11期20卷 3015-3030页

作者：丰飞刘伊威刘宏蔡鹤皋 State Key Laboratory of Robotics and System Harbin Institute of Technology

The essential requirements of the end-effector of large space manipulator are capabilities of misalignment tolerance and soft *** to these requirements,an end-effector prototype combining the tendon-sheath transmission system with steel cable snaring mechanism was *** analysis method based on the coordinate transformation and the projection of key points of the mechanical interface was proposed,and it was a guideline of the end-effector ***,the tendon-sheath transmission system was employed in the capture subassembly to reduce the inertia of the capture mechanism and enlarge the capture *** capabilities of misalignment tolerance and soft capture were validated through the dynamic simulation in ADAMS *** results of the capture simulation and experiment show that the end-effector has outstanding capabilities of misalignment tolerance and soft *** translation misalignments in radial directions are±100 mm,and angular misalignments about pitch and yaw are±15°.

关键词： space station on-orbit-servicing large space manipulator end-effector soft capture large misalignment tolerance

来源：评论

学校读者我要写书评

暂无评论

Online force optimization with input filter for robot hand based on EtherCAT

Online force optimization with input filter for robot hand b...

引用

2014 International Conference on Computational Intelligence and Industrial Engineering(CIIE 2014)

作者： Mingxin Hou Li Jiang Hong Liu Zhaopeng Chen Harbin Institute of Technology School of Technology State Key Laboratory of Robotics and System Institute of Robotics and Mechatronics German Aerospace Center

The aim of this study is to present an online force optimization algorithm based on Lagrange multiplier for robot hand with Butterworth input filter under EtherCAT(Ethernet for Control Automation Technology) Master TwinCAT 3.1 platform. The integrated Butterworth filter proposed in the paper can be used effectively for filtering processing of joint torque signals obtained by torque sensor. In this research,the advantages of using these strategies as follow: they reduce the noise,they provide an online force optimization theory and are able to real-time adjust the fingertip force when the robot hand grasps objects. The proposed schemes are validated by online grasping experiments.

关键词： force optimization filter robot hand Lagrange Multiplier EtherCAT

来源：评论

学校读者我要写书评

暂无评论

Quartic Bézier curve based trajectory generation for autonomous vehicles with curvature and velocity constraints

Quartic Bézier curve based trajectory generation for autono...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Cheng Chen Yuqing He Chunguang Bu Jianda Han Xuebo Zhang State Key Laboratory of Robotics University of Chinese Academy of Sciences Beijing China State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China Institute of Robotics and Automatic Information System (IRAIS) Nankai University Tianjin

To generate local trajectory between initial states and target states for autonomous vehicles, a feasible trajectory generation algorithm based on quartic Bézier curve is proposed. The problem of trajectory generation is firstly separated into generating continuous and bounded curvature profile to shape the trajectory and generating linear velocity profile to execute the trajectory. The curvature profile generation is further converted to an optimization problem with only 3 parameters owing to the specific properties of quartic Bézier curve. Sequential quadratic programming is employed to find optimal solution with respect to specific objective function. To avoid sideslip and ensure velocity-continuity and acceleration limits, the framework of linear velocity profile generation is also proposed. A simple profile with constant acceleration is also provided as an example. Simulation results on lane keeping and changing and path following demonstrate the capability and the real-time performance of the proposed algorithm.

关键词： Trajectory Vehicles Optimization Acceleration Equations Mobile robots

来源：评论

学校读者我要写书评

暂无评论

A Direct Swing Constraint-based Trajectory Planning Method for Underactuated Overhead Cranes

引用

Acta Automatica Sinica 2014年第11期40卷 2414-2419页

作者： Peng-Cheng WANG Yong-Chun FANG Zi-Ya JIANG Institute of Robotics and Automatic Information System (IRAIS) Nankai University Tianjin 300071 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300071 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

This paper proposes a novel swing constraint-based trajectory planning method for nonlinear overhead crane systems. To enhance the efficiency and security of the transportation process, some desired trajectories are designed to achieve the following merits: 1) leading the trolley to reach the destination sufficiently fast; 2) keeping the payload swing in an acceptable domain; 3) eliminating the residue swing when the trolley stops at the desired position. Specifically, the trajectories are divided into three stages. For each stage, the desired curve of the swing angle is directly constructed in accordance with anti-swing and zero-residual swing requirements, based on which the trolley trajectory is then obtained by analyzing the nonlinear kinematics of the crane system. An optimization mechanism is introduced to make intelligent compromises among the indices of transportation time, maximal swing angle, and so on. Both simulation and experimental results are provided to demonstrate the performance of the proposed direct swing constraint-based trajectory planning method.

关键词： Trajectory planning overhead cranes swing optimization nonlinear kinematics

来源：评论

学校读者我要写书评

暂无评论

A practical distortion correcting method from fisheye image to perspective projection image

A practical distortion correcting method from fisheye image ...

引用

International Conference on Information and Automation (ICIA)

作者： Zhongli Wang Hedong Liang Xian Wu Yipeng Zhao Baigen Cai Chuanqi Tao Zhiyi Zhang Yinling Wang Shanwen Li Fengtian Huang Shuangfu Fu Feng Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology China Beijing Engineering Research Center of EMC GNSS Technology for Rail Transportation Haidian Beijing China School of Electronics and Information Engineering Beijing Jiaotong University CSR Qindao Sifang Co. Ltd. Qindao Shandong Province China CSR Qindao Sifang Co.. Ltd. Shandong Province 266111 China

ISBN: (纸本)9781467391054

Fisheye camera is finding increasing number of applications in robotic vision, visual surveillance, and other fields. But the use of super-wide angle fish-eye lenses causes strong distortions in the resulting images. A method for the correction of fisheye distortion using only single images and linearity of imaged objects is presented. Spherical projection is a simple and effective method to transform a fisheye image to a perspective projection image. To use this method, the optic center of the fisheye image and the radius of the projecting sphere must be known in advance. The proposed algorithm is based on ellipse fitting. It requires only the possibility of the extraction of distorted image points from straight lines in the 3D scene. The mathematical model is introduced for the transformation. The method for finding out the optic center and the radius of the projection sphere is discussed. Contrary to most former algorithms, the algorithm discussed here does not depend on information about the real world coordinates of matching points. The correctness and effectiveness of the proposed method are demonstrated with real image.

关键词： Cameras Nonlinear distortion Lenses Three-dimensional displays Optical distortion Calibration

来源：评论

学校读者我要写书评

暂无评论

Features representation by multiple local binary patterns for facial expression recognition

Features representation by multiple local binary patterns fo...

引用

World Congress on Intelligent Control and Automation (WCICA)

作者： Li Wang Ruifeng Li Ke Wang Department State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

To recognize expressions conveniently and effectively, an enhanced feature representation method is proposed for facial expression recognition. Local binary pattern histogram Fourier (HF-LBP) features is used to represent facial expression features. Multiple HF-LBP features are extracted to form recognition vectors for facial expression recognition in the approach, which include sign and magnitude LBP in the completed LBP scheme with multiple radii and different size neighborhoods to achieve enough features. It represents images from different scales and directions in the local neighborhood by overall considerations from the aspect. K-nearest neighborhoods classifier is applied for expression recognition after representing facial features using HF-MLBP. Comparisons are made with other extension LBP operators to evaluate the approach. The experimental results show that our method has good performance in facial expression recognition.

关键词： Feature extraction Face recognition Iron Facial features Histograms Support vector machine classification

来源：评论

学校读者我要写书评

暂无评论

Approach movement of redundant manipulator using stereo vision

Approach movement of redundant manipulator using stereo visi...

引用

IEEE International Conference on robotics and Biomimetics

作者： Jiadi Qu Fuhai Zhang Yili Fu Shuxiang Guo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of Intelligent Robotics Kagawa University Takamatsu City

ISBN: (纸本)9781479973989

This paper proposed a visual control method with a relative position measurement model of stereo vision fixed in the work space for the approach movements of 7-DOF redundant manipulator. The relative position between the end-effectors' endpoint and object will be solved in real-time by the measurement model of stereo vision, then using position-based visual servo method, the endpoint position will be controlled to approach the object until achieve the approach task goal. Meanwhile redundancy resolution formalism of 7-DOF manipulator will be employed to avoid joint limits. Simulation results verified the effectiveness of the proposed methods.

关键词： Joints Cameras Manipulators Trajectory Stereo vision Redundancy Visualization

来源：评论

学校读者我要写书评

暂无评论

Dynamics modeling and simulation of space manipulator based on spatial vector

Dynamics modeling and simulation of space manipulator based ...

引用

IEEE International Conference on Mechatronics and Automation

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

ISBN: (纸本)9781479939800

Based on the need of the real-time dynamic simulation of space robot in the hardware-in-the-loop simulation system and modeling analysis of control system, the notation of spatial vector is applied to describe Articulated-Body Algorithm (ABA) for the modeling and simulation of floating base space manipulator system. Recursive multi-body dynamics of space manipulator based on the notation of spatial vector is proposed, and the dynamic calculation flowchart of the space manipulator is designed. The model of the space manipulator based on this algorithm can be used in real-time simulation, the disturbance of floating base due to the motion of manipulator can also be computed. The simulation results are compared with those in the SimMechanics. By comparison, we can conclude that the proposed algorithm based on the notation of spatial vector is efficient and correct.

关键词： Manipulator dynamics Decision support systems Vectors Equations Conferences Mechatronics

来源：评论

学校读者我要写书评

暂无评论

On the segment length ratio of the walking leg of a hydraulically actuated hexapod robot

引用

Jiqiren/Robot 2014年第5期36卷 544-551页

作者： Deng, Zongquan Liu, Yiqun Gao, Haibo Zhao, Liang Ding, Liang Yu, Haitao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China Inner Mongolia First Machinery Group CO. LTD Baotou014030 China

For a hydraulically actuated hexapod robot, a kinematic model of the walking leg with three segments is established. The trajectory of foot is planned, and the influence of leg length ratio on walking speed, joint angular velocity and acceleration, workspace of foot and body flexibility is analyzed. The indexes are reasonable when coxa proportion is between 0~0.1 and thigh proportion is between 0.4~0.5. The physical model of leg is established according to the segment length ratio 0.09:0.455:0.455, and the performance testing system of leg is developed. Experimental results show that there is no extreme position of hydraulic cylinder and dead point in the process of joint movement. The maximum speed and the maximum acceleration of joints can satisfy the performance requirements. Repetition deviation of the maximum speed of joints is less than 0.2°/s, and the repetition deviation of the maximum acceleration is less than 0.7°/s2. The rationality and feasibility of the analysis results of segment length are verified.

关键词： Kinematics

来源：评论

学校读者我要写书评

暂无评论

Research on the control strategy of SEM based micro/nano tele-operation system

引用

Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2014年第11期35卷 2448-2457页

作者： Zhou, Jie Rong, Weibin Xu, Jinpeng Sun, Lining State Key laboratory Robotics and System Harbin Institute of Technology Harbin150080 China School of Electrical and Control Engineering Heilongjiang University of Science and Technology Harbin150022 China

In order to improve the tele-presence and stability of a scanning electron microscopy (SEM) based micro/nano tele-operation system, a sliding mode based impedance control scheme was proposed. Such a scheme features that impedance control strategy was applied to master to fulfill compliant control and sliding mode based impedance control strategy was adopted to slave to solve the parameter uncertainty problem. Tracking differentiator technology was integrated to the master/slave control strategy to obtain the derivative control signal of the micro/nano teleoperation system. Under the circumstance of low band and large gain of force feedback (105), the stability condition of micro/nano teleoperation system was derived from Liewellyn criterion. The good robustness and accurate force tele-presence of the proposed sliding mode control approach were verified by simulation and experimental results. The maximum displacement error is less than 0.5 μm during the location tracking process. The operator can precisely perceive 1 μN contact force from the slave. ©, 2014, Science Press. All right reserved.

关键词： Sliding mode control

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：