The current motion planning approaches for redundant manipulators mainly includes two categories: improved gradient-projection method and some other efficiency numerical methods. The former is excessively sensitive t...
详细信息
The current motion planning approaches for redundant manipulators mainly includes two categories: improved gradient-projection method and some other efficiency numerical methods. The former is excessively sensitive to parameters, which makes adjustment difficult; and the latter treats the motion planning as general task by ignoring the particularity, which has good universal property but reduces the solving speed for on-line real-time planning. In this paper, a novel stepwise solution based on self-motion manifold is proposed for motion planning of redundant manipulators, namely, the chief tasks and secondary tasks are implemented step by step. Firstly, the posture tracking of end-effector is achieved accurately by employing the non-redundant joint. Secondly, the end-effector is set to keep stationary. Finally, self-motion of manipulator is realized via additional work on the gradient of redundant joint displacement. To verify this solution, experiments of round obstacle avoiding are carried out via the planar 3 degree-of-~eedom manipulator. And the experimental results indicate that this motion planning algorithm can effectively achieve obstacle avoiding and posture tracking of the end-effector. Compared with traditional gradient projection method, this approach can accelerate the problem-solving process, and is more applicable to obstacle avoiding and other additional work in displacement level.
A fast label-equivalence-based connected components labeling algorithm is proposed in this *** is a combination of two existing efficient methods,which are pivotal operations in two-pass connected components labeling ...
详细信息
A fast label-equivalence-based connected components labeling algorithm is proposed in this *** is a combination of two existing efficient methods,which are pivotal operations in two-pass connected components labeling *** is a fast pixel scan method,and the other is an array-based Union-Find data *** scan procedure assigns each foreground pixel a provisional label according to the location of the *** is to say,it labels the foreground pixels following background pixels and foreground pixels in different ways,which greatly reduces the number of neighbor pixel *** array-based Union-Find data structure resolves the label equivalences between provisional labels by using only a single array with path compression,and it improves the efficiency of the resolving procedure which is very time-consuming in general label-equivalence-based *** experiments on various types of images with different sizes show that the proposed algorithm is superior to other labeling approaches for huge images containing many big connected components.
With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size ...
详细信息
With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.
This paper proposes two novel rescue robots,including a cutter robot and a jack robot,which are aimed to contribute to rescue activities such as to cut through obstacles and to jack up debris in dangerous sites and na...
详细信息
This paper proposes two novel rescue robots,including a cutter robot and a jack robot,which are aimed to contribute to rescue activities such as to cut through obstacles and to jack up debris in dangerous sites and narrow spaces,where a rescue team can not work or ***,a multilinked tracked rescue robot platform composed of connected crawler vehicles is developed,which has high mobility on irregular terrain and ability to move into narrow collapsed ***,the cutter robot and jack robot are designed on the basis of rescue robot platform equipped with a cutter or a jack mechanism and corresponding manipulators in the front *** cutter refitted by an angle grinder is able to cut through 10 mm diameter steel *** electric jack mechanism designed based on multiple layers screw sleeves structure can lift up 300 kg load from 70 mm to 400 *** results validate the capability of the two rescue robots.
In order to improve the travelling ability of the wheel-type pipeline robot in elbow section of pipeline, the model of drive ratios is proposed aiming at the pipeline robots with different configurations. Through the ...
详细信息
In order to improve the travelling ability of the wheel-type pipeline robot in elbow section of pipeline, the model of drive ratios is proposed aiming at the pipeline robots with different configurations. Through the movement analysis of the robot with different configurations in elbow section, the pose model of the robot is established, and the coordinates of the wheel centers and the contact points can be got through the calculation of the pose model. Based on the pose model established, the corresponding drive ratios are obtained combining with the relations of the velocities of wheel centers and rotative velocities of wheels under the movement condition with no interference. The virtual simulations and prototype experiments are carried out, and the drive ratios accuracy of the model when the robot moved in elbow without interference is validated.
Target tracking control for wheeled mobile robot (WMR) need resolve the problems of kinematics model and tracking ***-order sliding mode control is a valid method used in the nonlinear tracking control system,which ...
详细信息
Target tracking control for wheeled mobile robot (WMR) need resolve the problems of kinematics model and tracking ***-order sliding mode control is a valid method used in the nonlinear tracking control system,which can eliminate the chattering of sliding mode *** there lacks the research of robustness and uncertain factors for high-order sliding mode *** address the fast convergence and robustness problems of tracking target,the tracking mathematical model of WMR and the target is *** on the finite-time convergence theory and second order sliding mode method,a nonlinear tracking algorithm is designed which guarantees that WMR can catch the target in finite *** the same time an observer is applied to substitute the uncertain acceleration of the target,then a smooth nonlinear tracking algorithm is *** on Lyapunov stability theory and finite-time convergence,a finite time convergent smooth second order sliding mode controller and a target tracking algorithm are designed by using second order sliding mode *** simulation results verified that WMR can catch up the target quickly and reduce the control discontinuity of the velocity of WMR.
General,high-precision theoretical modeling method is not well developed in the field of soft robotics,which holds back motion control and practical application of soft *** concept of modularization brings novel struc...
详细信息
General,high-precision theoretical modeling method is not well developed in the field of soft robotics,which holds back motion control and practical application of soft *** concept of modularization brings novel structure,novel locomotion patterns as well as novel control method for soft *** paper presents the concept of hierarchical control method for modular soft robot system and a H-configuration pneumatic modular soft robot is designed as the control *** H-configuration modular soft robot is composed of two basic motion units that take worm-like locomotion *** locomotion principle of the basic motion unit is analyzed and the actuation sequence is optimized by evolution strategy in VOXCAD simulation *** differential drive method is applied to the H-configuration modular soft robot with multi motion modes and vision sensor is used to control the motion mode of the *** H-configuration modular soft robot and the basic motion unit are assembled by a cubic soft module made of silicone ***,connection mechanism is designed to ensure that the soft modules can be assembled in any direction and *** are conducted to verify the effect of the hierarchical control method of the modular soft robots.
Humanoid robots have attracted much attention by virtue of their compatibility with human ***,biped humanoids with immense promise still cannot function steadily and reliably in real-world settings in the current ***,...
详细信息
Humanoid robots have attracted much attention by virtue of their compatibility with human ***,biped humanoids with immense promise still cannot function steadily and reliably in real-world settings in the current ***,rationally combining a humanoid robot with different stable mobile platforms is a favoured solution for diverse ***,a new versatile humanoid robot platform,aiming to provide a generic solution that can be flexibly deployed in diverse scenarios,for example,indoors and fields is *** humanoid robot platform incorporates multimodal perception,and extensible interfaces on hardware and software,allowing it to be rapidly integrated with different mobile platforms and end-effectors,only through easyto-assemble ***,the platform has achieved impressive integration,lightness,dexterity,and strength in its class,with human-like size and rich perception,targeted to have human-intelligent manipulation skills for human-engineered ***,this article elaborates on the reasoning behind the design choices,and outlines each ***,the essential performance of the platform is successfully demonstrated in a set of experiments with precise and dexterous manipulation,and human–robot collaboration requirements.
The purpose of this paper is to present and evaluate a method of free gait generation for HITCRI,a hexapod walking *** HITCR-I is designed as a modularized structure of legs that is based upon a four-bar linkage mecha...
详细信息
The purpose of this paper is to present and evaluate a method of free gait generation for HITCRI,a hexapod walking *** HITCR-I is designed as a modularized structure of legs that is based upon a four-bar linkage mechanism and with force sensors in the tip of legs,distributed hardware structure and a modular software structure of the control *** on a set of local rules between adjacent legs,finite state machine(FSM) model is built to control the coordination of *** automatic smooth transition of gait pattern is achieved through deriving the mathematical relation between gait pattern and locomotion *** disordered inter-leg phase sequence is adjusted to a regular state smoothly and quickly by the local rules based FSM,and the gait pattern can transform automatically adapting to irregular *** experiment on HITCR-I has demonstrated that it can walk through irregular terrain reliably and expeditiously with the free gait controller designed in this paper.
A novel modular self-reconfigurable robot called UBot is *** robot consists of severalstandard *** module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacen...
详细信息
A novel modular self-reconfigurable robot called UBot is *** robot consists of severalstandard *** module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent *** mechanism is self-locking after con-nected,and *** achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular *** modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.
暂无评论