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IEEE International Symposium on Intelligent Control (ISIC)

作者： Alex Smith Chenguang Yang Hongbin Ma Phil Culverhouse Angelo Cangelosi Etienne Burdet Center for Robotics and Neural Systems Plymouth University Devon UK Key Laboratory of Autonomous System and Network Control South China University of Technology Guangzhou P. R. China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China Department of Bioengineering Imperial College London UK

A biomimetic controller with online adaptation of impedance and force is applied to a full kinematic and dynamic model of the Baxter bimanual robot. A set of fuzzy logic engines are proposed to infer the values of tuning gains which affect the control performance and control effort of the controller, which would conventionally be set to a static value based on expert knowledge of the controller; the aim of this being to avoid the use of arbitary values to set these values. A simulated experiment is carried out, where the Baxter robot is required to move an object through a trajectory while subjected to two different disturbance forces in four phases. The controller with fuzzy inferred control gains is compared against the same controller with fixed gains to gauge the effectiveness of the new method. Results show that fuzzy inference of control gains impart an improvement in both tracking error and control effort.

关键词： Trajectory Fuzzy logic Force Dynamics Mathematical model Manipulators

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Two types of coaxial self-balancing robots

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Journal of Central South University 2013年第11期20卷 2981-2990页

作者：高学山戴福全李潮全 School of Mechatronical Engineering Beijing Institute of Technology State Key Laboratory of Robotics and System (Harbin Institute of Technology) School of Mechanical and Automotive Engineering Fujian University of Technology Navigation and Control Institute of China North Industries Group Corporation

Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in *** designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,*** experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 ***,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.

关键词： mobile robots service robots mechatronic systems robot dynamics control of robotic systems

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Investigation on the data processing method for high-precision alignment of PM fibers

Investigation on the data processing method for high-precisi...

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14th Annual Conference and the 3rd International Conference of the Chinese Society of Micro-Nano Technology, CSMNT 2012

作者： Rong, Weibi Zhang, Wei Wang, Lefeng Zhang, Hailing Sun, Lining MOE Key Laboratory of Micro-systems and Micro-structures Manufacturing Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783037857397

The extinction ratio is the characteristic parameter of polarization-maintaining (PM) fiber couplers. The detection accuracy of polarization angle is related to the extinction ratio, and affects the thin-diameter PM fiber coupler performances greatly. A series of image processing steps including median filtering, adaptive image morphology, and maximum variance threshold segmentation method are used to get the outline of optical fibers. The minimum squares method is used to get the maximum intensity of the light. The experimental data is processed using the Fourier filtering method and influences of the manufacturing error and random errors of fibers are reduced. By fitting the experiment data with cubic spine method, and its mean square error of fitting is 0.05458, then the polarization angle of the PM fiber is determined. Experiments show that this method can precisely determine the fast axis position of PM fibers, and it can achieve the high precision alignment of 80 um PM fibers. © 2013 Trans Tech Publications Ltd, Switzerland.

关键词： Mean square error

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on Control (CONTROL)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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An impedance control method of 7-DOF redundant manipulator

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Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2013年第SUPPL.I期41卷 42-46页

作者： Hua, Lei Zhang, Fuhai Fu, Yili State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

An extended impedance control of a 7-DOF (degree of freedom) manipulator was proposed to control impedance of redundant joints. First the motions in operating space and null space were put together to form an augmented operating space. The extended impedance control was obtained by decoupling torques in the augmented operating space. The manipulator can move stably and the impedance of redundant joints can be controlled directly by using this method. To keep all joint values in joint limits, the objective function was introduced into the null space motion controller. Finally, the simulation was implemented on a 7-DOF manipulator and the simulation results verify the feasibility and effectiveness of the proposed extended impedance control.

关键词： Redundant manipulators

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Mechanical design and dimensional optimization of minimally invasive celiac surgical robot

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Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2013年第SUPPL.I期41卷 324-328页

作者： Zhao, Kai Fu, Yili Niu, Guojun Pan, Bo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

Based on the configuration analysis of the minimally invasive surgical robot, a design scheme was presented in which the hollow-lined passive joint and a new kind of remote-center mechanism were adopted. On the basis of that, the mechanical designs of the passive joint and the remote-center mechanism were carried out, and the forward and inverse kinematics based on D-H notation was analyzed. Regarding the operability of the manipulator as the objective function, the dimensional parameters of the manipulator were optimized to improve the whole mechanical dexterity. At last, the mechanism designed was simulated. The results show that the mechanism designed has good stability and dexterity during the surgery, and the apparatus positioning performance is also desired. Consequently, the mechanism of the minimally invasive surgical robot designed meets the clinical requirements of the invasive surgeries very well.

关键词： Manipulators

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Path-based registration method of electromagnetic tracking of vascular interventional surgery

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Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2013年第SUPPL.I期41卷 316-319页

作者： Li, Zaijuan Fu, Yili Gao, Wenpeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

The path-based registration method was proposed based on the mentioned electromagnetic sensor for positioning and tracking. By searching for the correspondence between the path data of minimally invasive catheter robot using electromagnetic tracking (EMT) and the center line data extracted from the CT image, the spatial transformation matrix was calculated to implement the association between the patient coordinate system and the CT image coordinate system. The proposed method is dynamic and does not need any natural landmarks. In order to improve the precision of the algorithm, the radius of the vascular was introduced to the target function of the precision registration phase. Meanwhile, the method of recognition of the corner points was designed for compensation of conversion parameters. Finally, a silicone chest vascular model was tested and the precision verification and error analysis were completed to evaluate the performance of the algorithm. Experimental results show that this registration method is simple and feasible and the registration accuracy achieves the desired requirements.

关键词： Silicones

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Omni-directional camera calibration based on unifying spherical model

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Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2013年第SUPPL.I期41卷 99-102页

作者： Wang, Ke Li, Ruifeng Zhao, Lijun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

A calibration method was proposed for fish-eye omni-directional camera, and the unifying spherical projection model was used to model the camera. FAST (features from accelerated segment test) algorithm was used to detect the distorted image corners of calibration grid pattern. A two step coarse-to-fine calibration method was proposed. SVD was used (singular value decomposition) to get a coarse estimate of the intrinsic and extrinsic parameters of fish-eye camera. Then, based on the former results, the nonlinear optimization technique with box constraints was used to get a fine estimation of camera parameters. The experimental results validate the performance of our proposed methods.

关键词： Cameras

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Design of control system for an exoskeleton robot

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Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2013年第SUPPL.I期41卷 320-323页

作者： Chen, Hongwei Zhang, Fuhai Fu, Yili Wang, Xiangyu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

In order to meet the demand of stroke patient rehabilitation, the control exoskeleton robot was developed. The control system consisted with single-chip system of field programmable gate array (FPGA), sensor acquisition system and human robot interaction software based on Android system. Through force sensor, angle sensor and encoder, the single-chip system could collect motion state information for exoskeleton robot and patient's hand in real-time. The sensors could communicate with the control system via bus. The human robot interaction software based on Android could lead patient to take initiative for the purpose of rehabilitation. In the control system, the active control mode and passive control mode were auto-switched by detecting the force between patient's hand and exoskeleton robot. The result shows that the control system is stable, which can meet the rehabilitation requirement of patients, and the communication between man-machine software and control system is reliable.

关键词： Control systems

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Design and analysis of the minimally invasive robotic surgical system's remote centre mechanism

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Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2013年第SUPPL.I期41卷 289-292页

作者： Fu, Yili Liu, Xiao Niu, Guojun Pan, Bo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150000 China

For the active and passive working mode switching requirements of the robotic surgical systems for minimally invasive surgical, a new kind of the remote center mechanism model was designed, and the function of active and passive working mode switching without the electromagnetic clutch was achieved. The dynamics model of the remote center mechanism model was established, and the dynamic equations of the remote center mechanism model were solved out. The compensation of the balance torque of the remote center mechanism model's motors was calculated. Then the virtual prototype simulation model was established by using 3D design software Pro/E and mechanical dynamics analysis software ADAMS as the virtual prototype software tool, and the correctness of the dynamics model and the dynamic equations was affirmed by the simulation analysis.

关键词： Dynamics

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