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检索条件"机构=State Key Laboratory^of Robotics and System"

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Research on Singular Robustness Algorithm of Robot Inverse Kinematics Based on Dynamic Damping Coefficient 3

Research on Singular Robustness Algorithm of Robot Inverse K...

引用

2017 IEEE 第3届信息技术与机电一体化工程国际学术会议(ITOEC 2017)

作者： Peng Liu Dianyong Yu Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology

In order to solve the singularity problem of the Jacobian matrix in the robotic inverse kinematics method,a new singular processing algorithm is *** on the damped least-square(DLS) method,t

ISBN: (纸本)9781509053643;9781509053636

In order to solve the singularity problem of the Jacobian matrix in the robotic inverse kinematics method,a new singular processing algorithm is *** on the damped least-square(DLS) method,t

关键词： Jacobian matrices Robot kinematics Kinematics Damping Heuristic algorithms Service robots

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An SoC-based platform for integrated multi-axis motion control and motor drive

An SoC-based platform for integrated multi-axis motion contr...

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International Power Electronics Conference (IPEC)

作者： Yongping Sun Ming Yang Yangyang Chen Wangpin He Dianguo Xu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents a Field Programmable Gate Array (FPGA) -based platform for integrated multi-axis motion control and motor drive. As the development of FPGA, the integrated high-performance ARM processor on the FPGA has become the direction of FPGA development. This paper chooses the Xilinx Zynq-7020 programmable system-on-chip(SoC) which integrated dual-core ARM CPU and FPGA as a High-performance hardware platform. This platform is suits for the requirements of integrated multi-axis motion control and motor drive well, one ARM CUP completes the multi-axis position loop algorithm, speed loop algorithm and multi-axis trajectory generation, the other completes the human-computer interaction function. 4-axis current loop pipeline control and double sampling double updating current loop algorithm are accomplished by FPGA which can expand the current loop bandwidth and save FPGA logic resources. This platform's architecture will improve the overall bandwidth of the system, achieve multi-axis synchronization accuracy at nanosecond level which makes position trajectory more accurate.

关键词： Field programmable gate arrays Pipelines Signal processing algorithms Pulse width modulation Trajectory

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Development of a Complete Multi-phase Dynamics Model for a Biped Robot

Development of a Complete Multi-phase Dynamics Model for a B...

引用

IEEE International Conference on Mechatronics and Automation

作者： Yixiang Liu Xizhe Zang Xinyu Zhou Yubin Liu State Key Laboratory of Robotics System Harbin Institute of Technology Harbin China

Human walking is quite an efficient and smooth movement involving multiple successive phases. But for biped robots, most current dynamic walking models are simplified to some extent, with some phases neglected. This paper addresses the development of a complete multi-phase dynamics model for a biped robot. To achieve this, both the single support phase and double support phase are divided into two sub-phases by taking into consideration the rotation of stance foot around its toe and the rotation of swing foot around its heel. Therefore, a more human-like robotic gait is achieved, with transitions occurring at toe-off, heel-off, heel-strike, and toe-strike. Comparing the numbers of degrees of freedom with independent actuators of the biped robot, the whole gait cycle can also be represented by fully-actuated phase, under-actuated phase, and over-actuated phase. On this basis, the detailed dynamics model of each phase is derived using Euler-Lagrange method. And the validity of the dynamics model is demonstrated by simulation.

关键词： Biped robot Dynamics model Foot rotation Under actuation Over actuation

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Position Control and Vibration Suppression for Flexible-Joint Surgical Robot

Position Control and Vibration Suppression for Flexible-Join...

引用

International Conference on Cybernetics, robotics and Control (CRC)

作者： Shuizhong Zou Bo Pan Yili Fu Shuxiang Guo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781538677391

To achieve vibration suppression and precise position control for minimally invasive surgical robot during intraoperative operation, a compound control method composed of an input shaper and a pole-placement predictive function controller (PPFC) is proposed. First, the flexible-joint dynamic model of the 3-degree of freedom remote center motion (RCM) mechanisms of minimally invasive surgery robot is linearized by using the gravity compensation, and then the linearized dynamic model is decomposed into four parallel first-order sub-models. Next, PPFC is used to realize the position tracking of the robotic arm in the movement, and ZV input shaping is used to suppress the residual vibration of flexible-joint manipulator after stopping motion. Finally, the comparative experiments are conducted to evaluate the performance of the proposed method.

关键词： Heuristic algorithms Vibrations Manipulators Trajectory Medical robotics Torque

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Design and Safety Control of a High-Payload Nursing Robotic Arm with Tactile Skin

Design and Safety Control of a High-Payload Nursing Robotic ...

引用

IEEE International Conference on robotics and Biomimetics

作者： Jiahao Wu Yanshu Song Hailin Huang Fei Liu Junan Chen Bing Li School of Mechanical Engineering and Technology Harbin Institute of Technology Shenzhen China School of Electronic and Information Engineering Harbin Institute of Technology Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Service robots are being increasingly used to replace human beings in carrying out various sophisticated, heavy and even dangerous tasks. In order to solve the problem of labor shortage in the medical and nursing industry, this paper proposes a novel high-payload robotic arm for nursing tasks, which can help caregivers to lift and transfer patients. Firstly, we simulate and analyze the specific nursing tasks and application scenarios, and determine its kinematics configuration and load capacity parameters of each joint. Then we design and fabricate the modular and low flexibility robotic joints for the prototype. To avoid the occurrence of safety accidents while lifting patients, we design a new kind of tactile skin based on the resistance characteristic of varistor materials, using which a safety control algorithm is proposed. Experiments show that it can meet the requirements of load capacity and position control accuracy, and the proposed safety control method can effectively avoid many dangerous situations.

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Design of Claw-like Hand-foot Fusion Mechanism for the Multi-legged Robot

Design of Claw-like Hand-foot Fusion Mechanism for the Multi...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Fenglei Ni Shengyu Zhang Zainan Jiang Hong Liu The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

To improve the operational ability of the multi-legged robots, we design a novel hand-foot fusion mechanism (HFFM) which is inspired by the chicken claw. The HFFM has the fingers and palm which is similar to the chicken claw, which could not only assists the robot walking like robot's foot, but also envelope or pinch the objects. The structure of the HFFM consists of the underactuated mechanism finger (UMF) and the traditional passive compliance mechanism (TPCM). Based on the HFFM, the multi-legged robot is designed. Simulation results in ADAMS indicate that the HFFM not only enhances the stability of the robot but also endows the robot with the ability of enveloping or pinching objectives.

关键词： Legged locomotion Sensors Fingers Couplings Optimization

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Design and Analysis of Quadruped Robot Leg with Variable Configuration

Design and Analysis of Quadruped Robot Leg with Variable Con...

引用

IEEE International Conference on robotics and Biomimetics

作者： Tianqi Yue Kui Sun Chuangqiang Guo Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728103785;9781728103778

Conventional legs for quadruped robot are facing problems such as heavy load and high energy consumption of motors. To address this challenge, this paper presents a quadruped robot leg with variable joint configuration and introduces the optimization design method of this leg. The leg can change the joint configuration during the motion of robot, which could help motors adapt ground reaction force more reasonably. The simulation results show that compared with typical leg structures, the variable configuration leg can theoretically reduce the peak torque and the energy consumption of motor to a certain extent, which might provide a possible solution for this problem.

关键词： Quadruped robot Electric-drive Leg structure Joint configuration

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Transporting Microobjects Using a Magnetic Microrobot at Water Surfaces*

Transporting Microobjects Using a Magnetic Microrobot at Wat...

引用

International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Yuanzhe He Lefeng Wang Lifu Zhong Yang Liu Weibin Rong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Microobject transporting is an important task in numerous micromanipulation applications. In this paper, we propose a novel method to transport microobjects using a magnetically actuated microrobot at water surfaces. The microrobot is a pentagram-shaped magnetized sheet with typical diameter of 800μm. By applying magnetic gradient generated by electromagnetic coils, the microrobot can move controllably at water surfaces. Microobjects at water surfaces can be trapped by the microrobot due to the capillary attraction. Microobject transporting is realized by direct push of the microrobot. A releasing strategy by accelerating the microrobot is also presented to separate the microobject from the microrobot. The experimental results show that the maximum transporting speed for solder balls achieved 3.3mm/s with a magnetic gradient of 79mT/m.

关键词： Force Drag Robots Magnetic field measurement Magnetic separation Saturation magnetization

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A robust and singular-free analytical solution for the hand-eye calibration of a novel surgical robot

A robust and singular-free analytical solution for the hand-...

引用

IEEE International Conference on robotics and Biomimetics

作者： Huajian Song Zhijiang Du Weidong Wang Lining Sun Zhiyuan Yan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728103785;9781728103778

For the hand-eye calibration of the robot-assisted minimally invasive surgery with an endoscopic camera, the closed-form solutions should be considered primarily by taking the time occupancy and security of the surgery into account. Although all the existing analytical solutions are widely used, at least one of them (i.e., the analytical solution based on Lie Group theory) may be singular. According to the polar decomposition of a matrix, the singularity of the Lie Group-based solution is firstly pointed out. For avoiding the above singularity, a singular-free analytical solution based on singular value decomposition is put forward. In addition, simulation and real-data experiments are conducted for the proposed and another two classical solutions of the hand-eye calibration, which can demonstrate the feasibility and accuracy of the proposed closed-form solution.

关键词： Calibration Matrix decomposition Closed-form solutions Medical robotics Cameras Robot vision systems

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Closed Loop Control of a Continuum Surgical Manipulator for Improved Absolute Positioning Accuracy

Closed Loop Control of a Continuum Surgical Manipulator for ...

引用

IEEE International Conference on robotics and Biomimetics

作者： Qi Li Haozhe Yang Yuyang Chen Kai Xu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Minhang Shanghai Province China RII Lab (Lab of Robotics Innovation and Intervention) Shanghai Jiao Tong University Minhang Shanghai Province China

Robotic assistance in MIS (Minimally Invasive Surgery) has attracted worldwide attention in the past decades. Even though majority of the implemented robotic surgical manipulators have articulated structures, continuum structures have been more widely applied due to their advantages of intra-abdominal dexterity and safe interaction with anatomy. However, absolute positioning accuracy of a continuum surgical manipulator can be low due to its nonlinear bending behaviors under different loads and un-modeled manufacturing clearance. This paper hence presents a proof-of-concept investigation of closed loop control scheme for improving the manipulator's absolute positioning accuracy. system descriptions, kinematics modeling and experimental validations are reported in detail to demonstrate the effectiveness of the proposed control scheme.

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