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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Bo Zhao Mantian Li Haitao Yu Haiyan Hu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper deals with the dynamics and motion control of a spherical robot designed for reconnaissance and unstructured hostile environment exploration. The robot in this paper has three DOFs and two inputs, of which the nature is a nonlinear and underactuated system with nonholonomic dynamic constraints. The improved construction of two pendulums offers novel motion principle of spherical robot, which is moving simultaneously actuated by both eccentric moment and inertial moment generated by the two pendulums. Meanwhile the mobility is enhanced when the robot behaves dynamically. The emphasis is placed on the linear motion and turning in place motion control. The dynamic model of linear motion is formulated on the basis of Lagrange equation, and a smooth trajectory planning method is proposed for linear motion. A feedback controller is constructed to ensure the accurate trajectory planning. Turning in place motion is an indispensable element of omni directional locomotion which can enhance the mobility of spherical robots. The dynamic model of turning in place motion is derived on the theory of moment of momentum, and a stick-slip principle is analyzed. The two motion control methods are validated by both simulations and prototype experiments.

关键词： Robots Turning Dynamics Trajectory Planning Mathematical model

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Teleoperation system of Internet-Based Multi-Operator Multi-Mobile-Manipulator

Teleoperation System of Internet-Based Multi-Operator Multi-...

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International Conference on Electrical and Control Engineering (ICECE)

作者： Liang Ma Jihong Yan Jie Zhao Zhifeng Chen Hegao Cai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A teleoperation system of Internet-based Multi-Operator Multi-Mobile-Manipulator is proposed in this paper. The system consists of master sides and slave side, which has the characteristics of mobility, cooperation, distribution, fault tolerance, redundancy etc.. In master sides, with the aid of Distributed Virtual Environment and multi-video image, operators use the haptic interface device to control the remote robots via Internet. The 9-DOF mobile-manipulators which combine the mobility of the omnidirectional mobile plat and the manipulability of the manipulator are located in the slave side. Modules of ultrasonic location and ultrasonic/infrared distance measurement are arranged on the mobile-manipulators, and six-axis force sensors are fixed on the wrist of mobile-manipulators. Six video cameras are installed in slave side to provide the operators multi-video image. A network server collects the information of the sensors by WLAN and sends them to operators through net. With the aid of real-time multi-video image and feedbacks, operators could control the robots to complete the task. Finally, the effectiveness of the teleoperation system is illustrated by experiments that the operators control the robots to complete the role of delivering and transporting via Internet, and achieve loose coordination, mobile tight coordination and operated tight coordination teleoperation.

关键词： Robot kinematics Internet Robot sensing systems Fuels Manipulators Conferences

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Calibration of a 6-DOF parallel micromanipulator for nanomanipulation

Calibration of a 6-DOF parallel micromanipulator for nanoman...

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IEEE International Nanoelectronics Conference (INEC)

作者： Lefeng Wang Weibin Rong Mao Feng Taochou Liu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424435432;9781424435449

Nanomanipulation is a key enabling technology for many nanometer scale applications. To realize the full 6-DOF nanomanipulation, parallel micromanipulators have manys advantages comparing to the serial ones. Due to the machining and assembly errors, kinematic calibration is necessary to improve the accuracy further. For the 3-limb 6-dof manipulator in this paper, the error model of it was first developed based on the inverse solutions. The scheme for detecting the positions and poses of the end-effector was also determined. The least square method was used to identify the main parameters of the parallel manipulator, and the identified dimensions were used to control the manipulator. The experiments results verify the effectiveness of the calibration processes.

关键词： Calibration Micromanipulators Equations Capacitance Capacitive sensors Machining Assembly Kinematics Least squares methods Displacement measurement

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Dynamics and a convenient control design approach for a unicycle robot

Dynamics and a convenient control design approach for a unic...

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International Conference on Information and Automation (ICIA)

作者： Jie Zhao Mei Xiong Hongzhe Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424457014

In this paper, the dynamics model and a convenient lateral posture stabilization and longitudinal motion control algorithm of a unicycle robot are presented. The unicycle robot consists of a turntable for lateral posture balance, a cylindrical robot body, and a rolling wheel for longitudinal motion control. The dynamics of the unicycle system is derived using the Lagrangian formulation. In the conventional linearized model, important motion characteristics of the unicycle robot system are ignored, which makes against the control performance. To address this problem, a gain scheduling control method is proposed based on the nonlinear model and implemented by coordination of the separated lateral posture balance control and longitudinal motion control. Through simulation studies, the effectiveness of the proposed control algorithm is verified.

关键词： Control design Robot kinematics Motion control Mobile robots Nonlinear dynamical systems Orbital robotics Nonlinear equations robotics and automation Wheels state-space methods

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Bond graph model of permanent magnet linear synchronous motor

Bond graph model of permanent magnet linear synchronous moto...

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International Conference on Industrial and Information systems, IIS

作者： Li Teng Liu Yanjie Sun Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

The increasingly widespread industrial applications of permanent magnet linear synchronous motor (PMLSM) are self evident testimonies of the effectiveness of PMLSM in addressing the high requirements associated with these application areas. PMLSM direct drive system is a typical multi-domain system. This article proposes a bond graph model of PMLSM that can incorporate with other components in direct drive system to form dynamic electromechanical model. Principle of PMLSM under field-oriented control is equal to DC motor is illustrated firstly. Then bond graph model of PMLSM is built according to the equivalent circuit. The model is validated by comparing with a common used model which shows that bond graph model are equal to the model and represents clearly interactions between elements.

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A method for micro-spheres manipulation based on capillary force control

A method for micro-spheres manipulation based on capillary f...

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2010 Second International Conference on Intelligent Human-Machine systems and Cybernetics(第二届智能人机系统与控制论国际学术会议 IHMSC 2010)

作者： Weibin Rong Taochou Liu Lefeng Wang State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinChina

To utilize the adhesion forces and avoid the design complexity derived from the electrochemical treatment of operating tools, a method for micro-objects manipulation based on the capillary force is presented. The pickup and release model of micromanipulation were established. The manipulation scheme was performed by mechanical motion to change the capillary force generated by the liquid medium between the tool and micro-sphere, so the microsphere can be picked up and released successfully. The experiments about sub-millimeter stannum spheres demonstrated the simplicity and feasibility of this method.

关键词： mkromanipulation liquid medium capillary force

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Pose planning for robotically assisted minimally invasive surgery

Pose planning for robotically assisted minimally invasive su...

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International Conference on BioMedical Engineering and Informatics (BMEI)

作者： Gang Li Dongmei Wu Ruqi Ma Kai Huang Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Robotically assisted minimally invasive surgery (RAMIS) is an increasingly important technology, which leads to great advances in the field of general surgery. However, the potential of this technology is constrained by the collision occurred during the operation. One effective solution to this problem is through an efficient preoperative planning for the robotic system, including port placement, robot base placement and pose planning. This paper mainly discusses the pose planning problem, referred to as the initial configuration of stationary joints, and describes a pose planning method for the minimally invasive robotic surgery system currently under developed. This method utilizes an optimization procedure, which includes criteria to guarantee a collision-avoidance operation, under the constraint of ensuring the fixed positions of entry port in patient's body, to position the stationary joints at the beginning of the operation properly.

关键词： Manipulators Joints Planning Surgery Robot kinematics Instruments

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Quantitative relationship modeling between Surface Electromyography and elbow joint angle

Quantitative relationship modeling between Surface Electromy...

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International Conference on BioMedical Engineering and Informatics (BMEI)

作者： Dongmei Wu Xin Sun Zhicheng Zhang Zhijiang Du Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Research based on Surface Electromyography (sEMG) has important significance in enlightening the control precision of artificial limb. sEMG and elbow joint angle from 4 muscles of human's upper limb is extracted in the process of elbow bending and stretching. The quantitative relationship model of sEMG and elbow joint angle is established through Nerve Network (sEMG feature as input set and elbow joint angle as output set) and the prediction effect is also estimated based on two methods (Mean value and RMS of the error between predicted joint angle and actual joint angle; linear regressive method). Prediction comparison between different feature extraction methods (RMS and Mean Power Frequency) is also analyzed. The experimental results show that the mean error between the prediction angle based on sEMG and the practical angle are all less than 1 degree which means good prediction effect.

关键词： Joints Elbow Muscles Hidden Markov models Rhythm Electromyography Feature extraction

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Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots

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Journal of Central South University of Technology 2010年第4期17卷 807-815页

作者： Gen-liang Xiong Zong-wu Xie Jian-bin Huang Hong Liu Zai-nan Jiang Kui Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany

A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping method that has “explosion of terms” problem, the new proposed control system is a combination of the dynamic surface control technique and the backstepping. The dynamic surface control (DSC) technique can resolve the “explosion of terms” problem that is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity of the method was proved in the laboratory environment that was set up on the 5-DOF (degree of freedom) flexible joint robot. Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were achieved successfully as depicted theoretically.

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Spatial Geometry Modeling of Truss Structure and Analysis of Connection Deviation for Deployable Truss Antenna

Spatial Geometry Modeling of Truss Structure and Analysis of...

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2010 International Conference on Measuring Technology and Mechatronics Automation(ICMTMA 2010)(2010年检测技术与机电自动化国际会议)

作者： Dake Tian Rongqiang Liu Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424450015

Aiming at the problem of connection deviation of truss structure for deployable truss antenna (DTA) with hexagonal prism modules, spatial geometry model of multimodule truss structure is presented based on the homogeneous coordinate transformation method, which can be used in multi module truss structure whose module number is less than seven. The structure and deployment principle of modules are introduced. According to the connection characteristics of modules, the geometry model of a single module is established, then transformation matrixe of basic coordinate system of any module to total coordinate system and coordinate of any point are all obtained. The equation of connection deviation is derived, and influencing factors on connection deviation are analyzed. Furthermore, the adjusting method of connection deviation is proposed. The spatial geometry model of truss structure can be taken as the theoretical basis for design and measurement of truss structure.

关键词： deployable antenna truss structure module connection deviation geometry modeling coordinate transformation

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