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2014 IEEE International Conference on Information and Automation, ICIA 2014

作者： Shuizhong, Zou Bo, Pan Yili, Fu Shuguo, Wang Shuxiang, Guo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of Intelligent Robotics Kagawa University Takamatsu City Kagawa Prefecture Japan

ISBN: (纸本)9781479941001

Being the most important component of minimally invasive surgical robot system, remote centre mechanisms (RCM) composed of three joints, achieve the position and orientation adjustment of the surgical instrument inside a patient's body. In order to implement the high-precision position control and eliminate the adverse effect result from the friction of RCM's joints, in this paper, a fuzzy sliding mode controller with the friction compensation is designed. The result of simulation and experiment show that the controller designed can provide a trajectory tracking with real-time, high-precision performance and strong robustness.

关键词： Friction Fuzzy systems Joints Manipulators Robustness Sliding mode control Trajectory Adaptive fuzzy sliding mode control Friction compensation Minimally invasive surgical robot Remote centre mechanisms

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Nonlinear force distribution for multi-finger robot hand using impedance control based on EtherCAT

Nonlinear force distribution for multi-finger robot hand usi...

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International Conference on Machine Tool Technology and Mechatronics Engineering, ICMTTME 2014

作者： Hou, Ming Xin Jiang, Li Chen, Zhao Peng School of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinHeilongjiang China Institute of Robotics and Mechatronics German Aerospace Center Munich Germany

ISBN: (纸本)9783038352464

A novel strategy of online force distribution for multi-finger robot hand is developed based on impedance control. The real-time controller system including the finger dynamics and multi-fingers constraints is considered as a nonlinear system. Because when the robot hand grasps the object, the fingertip force is usually changed which could cause the grasp unstable. Our method gains the ability to deal with online grasping force distribution and can satisfy the real-time requirements at the same time. Experiment shows that our method provides the most feasible grasp configurations in real-time performance. © (2014) Trans Tech Publications, Switzerland.

关键词： Robotic arms

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Coaxial adjustment in PMF alignments

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Guangxue Jingmi Gongcheng/Optics and Precision Engineering 2014年第1期22卷 125-131页

作者： Zhang, Wei Wang, Le-Feng Rong, Wei-Bin Sun, Li-Ning State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

When polarization axes of Polarization Maintaining Fibers (PMF) are detected by micro-vision methods in PMF alignment, the rotation axes of fibers must be in the focal plane of the microscope. Therefore, a coaxial adjustment system was designed to adjust the relative position of the fiber to a motorized rotation stage. The distance between the fiber core and the center of rotation stage was detected by the micro-vision and the precise motion of motorized linear stage, and then, based on the image information, the two-dimensional manual linear stages were used to perform the adjustment. After the adjustment, the coaxial error was computed theoretically. Based on the micro-vision, an adjustment system was designed for the experiments. The Cartesian coordinate system was established by taking the center of the motorized rotary stage as the origin. Then, the equation of the straight line of the fiber center and its intercept were obtained by image processing and the least square method, further the distance between fiber center and rotary stage was determined. Moreover, the gray-scale difference function based on image threshold was taken as a sharpness function, and the influence of white noise was effectively eliminated. Experimental results show that the coaxial error between the fiber and the rotary stage is 3 μm after adjustment, which proves that the system can be applied to the detection of the optical fiber polarization axis.

关键词： Image processing

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A computational model for data acquisition in SAXS 14

A computational model for data acquisition in SAXS

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5th ACM Conference on Bioinformatics, Computational Biology, and Health Informatics, ACM BCB 2014

作者： Dong, Hui Chirikjian, Gregory S. State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Department of Mechanical Engineering Laboratory for Computational Sensing and Robotics Johns Hopkins University BaltimoreMD21218 United States

ISBN: (纸本)9781450328944

Small-angle x-ray scattering (SAXS) is an experimental biophysical method used for gaining insight into the structure of large biomolecular complexes. Under appropriate chemical conditions, the information obtained from a SAXS experiment can be equated to the pair distribution function, which is the distribution of distances between every pair of points in the complex. Here we develop a mathematical model to calculate the pair distribution function for a structure composed of several rigid components. We show that integrals of products of three spherical-Bessel functions arise naturally in this context. We then develop an algorithm for the efficient recursive computation of these integrals. Efficient and accurate models that relate the data acquisition process to the underlying structure are of interest because iterating such models provides a computational framework in which to solve the inverse problem of determining how constituent parts in a large structure should be assembled so as to be consistent with the experimental data. Copyright © 2014 ACM.

关键词： Data acquisition

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Resolution and precision measurement of a three dimension force sensor based on piezoresistive conductive ink

Resolution and precision measurement of a three dimension fo...

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11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014

作者： Liu, Yanjie Wu, Jiang Han, Haijun Liu, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Dep. of Intelligent Mechanical System Engineering Kochi University of Technology Kami Japan

ISBN: (纸本)9781479939787

In order to achieve the function of measuring friction on contacting surface between wafer and manipulator in real time, in this paper, we mainly measured the resolution and precision of the three dimension force sensor based on piezoresistive conductive ink. Resolution of tangential force improves with preload in normal direction increasing and the maximum resolution is less than 0.025 N with 0.8 N preload. Maximum error is about 30.62% because of low tangential stiffness of elastomer. The experiment results indicate that this sensor has characteristics of small volume, high flexibility and high resolution, which is prospective for using in wafer transfer system with improvement of higher precision in the future. © 2014 IEEE.

关键词： Flexible three dimension force sensor Resolution measurement

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Research on 3D reconstruction for robot based on SIFT feature

Research on 3D reconstruction for robot based on SIFT featur...

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2014 IEEE Workshop on Advanced Research and Technology in Industry Applications, WARTIA 2014

作者： Zhong, Qiubo Jie, Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electronic and Information Engineering Ningbo University of Technology Harbin China

ISBN: (纸本)9781479969890

On the basis of only visual and odometer, a robust perception model is established to extract environmental features through effective fixed scale feature-transformation method, and updated feature by unscented Kalman filtering. The scale invariant feature transform (SIFT) is studied for 3D reconstruction, and a fast feature matching algorithm based on SIFT is proposed. A map representation method using SIFT features is also propounded, which is more convenient for environment recognition, robot localization and makes the data association map building much easier as well than the maps using simple features such as Harris corners and edges. The results of experiment show that this method can improve the success rate and precision of robot localization. © 2014 IEEE.

关键词： Image reconstruction

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An inverse projective mapping-based approach for robust rail track extraction

An inverse projective mapping-based approach for robust rail...

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Congress on Image and Signal Processing, CISP

作者： Zhongli Wang Xian Wu Yan Yan Chunxiao Jia Baigen Cai Zhenhui Huang Guiguo Wang Tianbai Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology China Beijing Engineering Research Center of EMC and GNSS Technology for Rail Transportation Beijing China School of Electronic Information and Engineering Beijing Jiao Tong University China CNR Tangshan Railway Vehicle Corporation Tangshan China

ISBN: (纸本)9781467390996

Rail track extraction from the image can be used to determine the train localization, or vision-based inspection of the rail, and some other driver supporting systems in railway. For the vision-based inspection, it is one of the most important tasks. But visual approach suffers from some common difficulties, the illumination change, shadow, weather effects, etc, which make the image processing for the successive procedures a very tough work, even in a sample application. In this paper, with a calibrated camera and based on inverse projective mapping (IPM), we can get a bird-view image or IPM image first. Then the IPM image is converted to an edge map with modified binary method. In order to extract the rail track, a Hough transformation is used detect the line segments in the edge map. Combined with some geometric constraints from the prior knowledge, the rail track can be robustly extracted. Some experiments with on-site image show the proposed method can works well.

关键词： Rails Image edge detection Image segmentation Cameras Rail transportation Detectors Robustness

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A Direct Swing Constraint-based Trajectory Planning Method for Underactuated Overhead Cranes

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自动化学报 2014年第11期40卷 2414-2419页

作者： WANG Peng-Cheng FANG Yong-Chun JIANG Zi-Ya Institute of Robotics and Automatic Information System (IRAIS) Nankai University Tianjin 300071 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300071 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016. China

This paper proposes a novel swing constraint-based trajectory planning method for nonlinear overhead crane systems. To enhance the efficiency and security of the transportation process, some desired trajectories are designed to achieve the following merits： 1） leading the trolley to reach the destination sufficiently fast; 2） keeping the payload swing in an acceptable domain; 3） eliminating the residue swing when the trolley stops at the desired position. Specifically, the trajectories are divided into three stages. For each stage, the desired curve of the swing angle is directly constructed in accordance with anti-swing and zero-residual swing requirements, based on which the trolley trajectory is then obtained by analyzing the nonlinear kinematics of the crane system. An optimization mechanism is introduced to make intelligent compromises among the indices of transportation time, maximal swing angle, and so on. Both simulation and experimental results are provided to demonstrate the performance of the proposed direct swing constraint-based trajectory planning method.

关键词：桥式起重机基于约束 Swing 欠驱动规划法非线性运动学载荷摆动轨迹规划

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Design of in-pipe 3SPR/3RPS parallel manipulator and its kinestatics analysis

Design of in-pipe 3SPR/3RPS parallel manipulator and its kin...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Yi Lu Jingjing Yu Chunping Sui Jianda Han College of Mech Eng Yanshan University Qinhuangdao Parallel robot and mechatronic system laboratory of Hebei province Hebei P. R. China Department of Mechatronics Heibei Normal University of Science & Technology Qinhuangdao Hebei P. R. China State Key Laboratory of Robotics Shenyan Institute of Automation Liaoning PR China

An in-pipe robot must be able to adapt to the various geometric changes of pipes and have large enough load carrying capacity in order to move freely in industry pipe and drag heavy load. A novel in-pipe 3SPR/3RPS type parallel manipulator is proposed and its kinematics is analyzed in this paper. First, an in-pipe parallel manipulator with multi-foot is designed, and its principle and characteristics are explained. Second, the kinematics formulae are derived for solving the displacement, velocity and acceleration of foot mechanism and parallel manipulator. Third, the statics formulae are derived for solving the active force of the foot mechanism and the active/constrained forces of the parallel manipulator. Finally, an analytic example is given for solving kinematics and statics of the in-pipe parallel manipulator and analytic solutions are verified by simulation solution.

关键词： Foot Force Legged locomotion Kinematics Manipulators

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Study on the fuzzy sliding mode control of the quadruped robot's hydraulic driving unit

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ICIC Express Letters 2014年第9期8卷 2373-2382页

作者： Quan, Lingxiao Kong, Xiangdong Xu, Yancui Yu, Bin Li, Mantian School of Mechanical Engineering Yanshan University No. 438 Hebei Ave. Qinhuangdao 066004 China State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 West Da-Zhi Street Harbin 150001 China

The hydraulic Quadruped Robot (BigDog) always uses the hydraulic drive unit to control the motions of every joint. The symmetric servo-valve of high performance controls the symmetric servo cylinder in the hydraulic drive unit. This kind of drive mode has the advantages of large power volume ratio, fast response, etc. Because of its obvious nonlinearity and unknown parameters, the control effect is not good. According to the disadvantages of hydraulic drive unit, this paper firstly proposes a Sliding Mode Control strategy based on the Exponential Approach Law to improve the robustness of hydraulic drive unit position control. However, the existence of chattering of this strategy can lead to lower control precision and stimulate high frequency dynamic characteristic of the system, so as to damage the system performance. To restrain chattering effect on the performance of the system effectively, a fuzzy controller is used to adjust the Exponential Approach Law parameter to optimize control results. The research results show that the Fuzzy Sliding Mode Control can guarantee good robustness and dynamic performance of the system, and it can largely reduce chattering of system and improve the system steady-state accuracy. © 2014 ISSN 1881-803X.

关键词： Position control

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