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第36届中国控制会议

作者： Guang-Ren Duan Weishun Sui Maorui Zhang State Key Laboratory of Robotics and System(HIT)

ISBN: (纸本)9781538629185

This paper investigates the distributed fixed-time consensus tracking problem for multiple coupled harmonic oscillators under the directed *** adopting fast terminal sliding-mode strategies,the new distributed consensus protocols are proposed for each harmonic oscillator *** achieves fixed-time consensus tracking,in which the bound of settling time are independent of initial ***,simulation examples are provided to demonstrate the performance of our theoretical results.

关键词： Fixed-time consensus Fast terminal sliding-mode Multi-agent system

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Human-Machine Interaction Control system of a Remote Maintenance Manipulator for Tokamak

Human-Machine Interaction Control System of a Remote Mainten...

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2018 Chinese Automation Congress, CAC 2018

作者： Li, Iian Liu, Yixiang Zang, Xizhe First Research Institute Ministry of Public Security of PRC Beijing100044 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9781728113128

This paper presents the development of human-machine interaction control system of a remote maintenance manipulator for tokamak utilizing virtual reality. The human-machine interaction control system aims to achieve three major functions as virtual simulation, human-machine interaction, and collision detection. The graphical user interface of the control system is developed with the aid of the software Unity3D. In order to simplify system operations and improve user experience, 3D mouse and somatosensory controllers are adopted to realize scene exploration in the virtual environment and master-slave interaction control of the manipulators. A typical maintenance task is simulated using the human-machine interaction control system. The results indicate that the developed control system can help improve the safety and efficiency of remote maintenance operations significantly. © 2018 IEEE.

关键词： Manipulators

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Feedforward Control Based on Fourier Series Trajectory Fitting Method for Industrial Robot 29

Feedforward Control Based on Fourier Series Trajectory Fitti...

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第29届中国控制与决策会议

作者： Lianzheng Ge Jian Chen Ruifeng Li State Key Laboratory of Robotics and System(HIT)

ISBN: (纸本)9781509046584

Feedforward control is widely used in industrial robot as a valid control *** speed motion will bring the vibration for robot with flexible joints,which will affect the dynamic performance of *** residual vibration character is analyzed for palletizing robot using feedforward control method in this *** the vibration suppression constraints polynomials fitting method is used to compute the discrete data of ***,the discrete trajectory points are fitted based on Fourier series *** trajectory fitted model is optimized using genetic algorithm,and the high frequency harmonics included in feedforward drive torque is decreased under the premise of guaranteeing fitting precision and boundary *** results verified the Tightness of the proposed trajectory planning algorithm.

关键词： Feedforward control Vibration suppression Fourier series Trajectory planning

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Algorithm of Palletizing Robot Vibration Suppression Based on the Principle of Optimal Trajectory Planning 29

Algorithm of Palletizing Robot Vibration Suppression Based o...

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第29届中国控制与决策会议

作者： Lianzheng Ge Jian Chen Ruifeng Li State Key Laboratory of Robotics and System(HIT)

ISBN: (纸本)9781509046584

High speed motion will bring the residual vibration for palletizing robot with flexible joints,which will affect the dynamic performance of *** time-domain motion character of palletizing robot is analyzed based on modal analysis theory,and the residual vibration model is *** problem of residual vibration suppression using motion planning method is regarded as functional extreme value problem,and the functional extreme problem is converted to solving the BVPfboundary value problem) of ordinary differential equations based on the Pontryagin maximum *** vibration suppression trajectory planning algorithm is designed considering the flexible dynamic model of palletizing robot *** results verify the effectiveness of the optimal trajectory planning for the vibration suppression of palletizing robot.

关键词： Palletizing robot Vibration suppression Optimal control Trajectory planning

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A Gravity-Compensation Algorithm for the Haptic Device Based on the Principle of Virtual Work and BP Neural Network

A Gravity-Compensation Algorithm for the Haptic Device Based...

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第三届机电控制技术与交通运输国际学术会议

作者： Shuo Wang Zhiyuan Yan Zhengxin Yang Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology

The haptic device is the key facility in the master-slave minimally invasive surgery system, a gravitycompensation algorithm is proposed for this device. The structure of this device mentioned in this paper is a combination of serial and parallel structure, and it has 6 degrees of freedom. 3 motors are installed at 3 active joints respectively. In order to establish the dynamic equation of the haptic device, the device is simplified and the torque which is used to compensate the gravity is calculated by the principle of virtual work(Codourey A, 1998). Then the whole process of gravity-compensation is simulated under the environment of a dynamic software. After the comparison between the theoretical model and the simulation result, errors are shown and compensated through BP neural network, the performance of the gravity-compensation is improved.

关键词： Haptic device Gravity-compensation Principle of virtual work BP neural network

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Large Deflection of a Compliant Beam with Non-uniform Stiffness Distribution using a PRB-3R Model

Large Deflection of a Compliant Beam with Non-uniform Stiffn...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Hu Jin Tao Fang Haoyao Chen Tanju Yildirim Weihua Li Shiwu Zhang University of Science and Technology of China Hefei China School of Mechanical Engineering and Automation in Harbin Institute of Technology Shenzhen and the State Key Laboratory of Robotics and System China University of Wollongong Wollongong NSW Australia

ISBN: (数字)9781728137261

ISBN: (纸本)9781728137278

Soft arms of service robots for safe manipulation, or soft legs of mobile robots for efficient locomotion have been intensively developed. The deflection of complaint beams for the soft arms or soft legs is a key criterion for design and control of robotic motions. Pseud-rigid-body (PRB) model are commonly used to predict deflection of the compliant beams with a uniform stiffness. However, soft robotic arms and legs often possess a non-uniform stiffness distribution for improving manipulation effectiveness and locomotion efficiency. In this work, a PRB-3R model is used to predict large deflections of a compliant beam with a non-uniform distribution of stiffness. By using the Euler-Bernoulli beam theory, the large deflection of a cantilever beam with a non-uniform stiffness distribution under an applied load was also derived. Results show that the PRB-3R model can precisely predict mechanical behavior of compliant beams that are not too sharp. It is not proper to apply this model to beams with very large slope. This work provides an effective design method for the soft appendages of a biomimetic robot.

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Development of Deep-Sea Resonant Sandwich Linear Ultrasonic Motor

Development of Deep-Sea Resonant Sandwich Linear Ultrasonic ...

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作者： Shaopeng He Shengjun Shi Weishan Chen State Key Laboratory of Robotics and System Harbin Institute of Technology

A deep-sea resonant sandwich linear ultrasonic motor is proposed and designed. We determine the parameter of its structure by finite-element analysis. The piezoelectric actuator adopts compound vibration mode of fifth order bending vibration and second order longitudinal. The mode degeneracy of that is completed. We manufacture the prototype to measure the performance of it. We measure its vibration mode and resonant frequency. The velocity of prototype can reach 264.5 mm/s while the water pressure is 8 MPa and the voltage signal with frequency of 30.30 kHz and voltage amplitude of 150 V.

关键词： Piezoelectric Actuator Finite-Element Analysis Hybrid Mode Fluid-Solid Coupling

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Apple Vision Pro for Healthcare: "The Ultimate Display"? Entering the Wonderland of Precision Medicine

arXiv

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arXiv 2023年

作者： Egger, Jan Gsaxner, Christina Chen, Xiaojun Bian, Jiang Kleesiek, Jens Puladi, Behrus Girardetstraße 2 Essen45131 Germany Hufelandstraße 55 Essen45147 Germany Hufelandstraße 55 Essen45147 Germany Department of Oral and Maxillofacial Surgery University Hospital RWTH Aachen Pauwelsstraße 30 Aachen52074 Germany Institute of Computer Graphics and Vision Graz University of Technology Inffeldgasse 16/II Graz8010 Austria Institute of Biomedical Manufacturing and Life Quality Engineering State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Dongchuan Road 800 Minhang District Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Dongchuan Road 800 Minhang District Shanghai200240 China Health Outcomes & Biomedical Informatics College of Medicine University of Florida GainesvilleFL32610 United States Partner Site Essen Hufelandstraße 55 Essen45147 Germany Department of Physics TU Dortmund University August-Schmidt-Str. 4 Dortmund44227 Germany Institute of Medical Informatics University Hospital RWTH Aachen Pauwelsstraße 30 Aachen52074 Germany

At the Worldwide Developers Conference (WWDC) in June 2023, Apple introduced the Vision Pro. The Vision Pro is a Mixed Reality (MR) headset, more specifically it is a Virtual Reality (VR) device with an additional Video See-Through (VST) capability. The VST capability turns the Vision Pro also into an Augmented Reality (AR) device. The AR feature is enabled by streaming the real world via cameras to the (VR) screens in front of the user’s eyes. This is of course not unique and similar to other devices, like the Varjo XR-3. Nevertheless, the Vision Pro has some interesting features, like an inside-out screen that can show the headset wearers’ eyes to "outsiders" or a button on the top, called "Digital Crown", that allows you to seamlessly blend digital content with your physical space by turning it. In addition, it is untethered, except for the cable to the battery, which makes the headset more agile, compared to the Varjo XR-3. This could actually come closer to the "Ultimate Display", which Ivan Sutherland had already sketched in 1965. Not available to the public yet, like the Ultimate Display, we want to take a look into the crystal ball in this perspective to see if it can overcome some clinical challenges that - especially - AR still faces in the medical domain, but also go beyond and discuss if the Vision Pro could support clinicians in essential tasks to spend more time with their patients. © 2023, CC BY.

关键词： Augmented reality

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Model predictive control method for multirate sampled-data system based on PLS framework

Model predictive control method for multirate sampled-data s...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Shengri Xue Zhan Li Yipeng Yang Liu Yang Yingxin Yan Weiyang Lin School of Astronautics Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System (HIT) Harbin China School of Automation Harbin University of Science and Technology Harbin China Science and Technology on Space Physics Laboratory Beijing China

The target of this article is to design a data-driven model predictive control algorithm for general multirate sampled-data systems. Multirate sampling widely exists in the industrial process control systems. In this paper, not only sampling periods between inputs and outputs are different, but also periods among inputs or outputs are different from each other. For such the general multirate sampled-data system, we combine the lifting technique and partial least square method to obtain inputs/outputs data sets, which are used for the model regression. An incorporating autoregressive exogenous (ARX) structure model is utilized to model predict. Then we give the principal components cost function for the model predictive control algorithm. Finally, we use example to illustrate the ARX model's precision and the efficiency of our data-driven model predictive control algorithm for general multirate sampled-data systems.

关键词： Sampled data systems Predictive models Prediction algorithms Predictive control Heuristic algorithms Mathematical model Cost function

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Research on Gravity Compensation Algorithm of Model-free Manipulator Based on L_1-norm Convex Optimization

Research on Gravity Compensation Algorithm of Model-free Man...

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IEEE International Conference on robotics and Biomimetics

作者： Chenglong Yu Zhiqi Li Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781728103785;9781728103778

In this paper, a model-free gravity compensation algorithm for manipulators based on L_1-norm convex optimization is proposed. The method does not depend on the structure and parameters of the robotic arm. In contrast, this method optimizes the solution of gravity compensation parameters based on the sampled data. Theoretical analysis shows that the reconstruction of the gravity compensation parameters of the manipulator is realized based on the joint angle and joint torque training data. Experiments show that the gravity compensation results can restore the joint torque of the test set well, which proves the effectiveness of the method.

关键词： Gravity Manipulators Torque Mathematical model Jacobian matrices Robot kinematics

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