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2013 5th International Conference on Intelligent Human-Machine systems and Cybernetics, IHMSC 2013

作者： Chen, Jian Li, Ruifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9780769550114

For an industrial robot with flexible joint characteristics, accurate measurement of the position and speed of the link-side information is extremely difficult and costly. The purpose of this study was to design a robust sliding mode observer which can exact estimate the link's state information in the case of only motor position measurement. In the design process of the sliding mode observer, nonlinear uncertainty of the system was separated into two parts: the parameter uncertainty and estimation error, which Based on the flexible joint robot dynamics property. The stability of observer was proved by Lyapunov function, and the appropriate observer gain was obtained by solving the algebraic Riccati equation. The simulation results shown that, the observer accurate estimated the speed and position of the link-side of the flexible joint robot under the condition of only measure position information of the motor position. © 2013 IEEE.

关键词： Machine design

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A new hybrid viscoelastic soft tissue model based on meshless method for haptic surgical simulation

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Open Biomedical Engineering Journal 2013年第2013期7卷 116-124页

作者： Bao, Yidong Wu, Dongmei Yan, Zhiyuan Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China School of Software Pingdingshan University Pingdingshan467000 China

This paper proposes a hybrid soft tissue model that consists of a multilayer structure and many spheres for surgical simulation system based on meshless. To improve accuracy of the model, tension is added to the three-parameter viscoelastic structure that connects the two spheres. By using haptic device, the three-parameter viscoelastic model (TPM) produces accurate deformationand also has better stress-strain, stress relaxation and creep properties. Stress relaxation and creep formulas have been obtained by mathematical formula derivation. Comparing with the experimental results of the real pig liver which were reported by Evren et al. and Amy et al., the curve lines of stress-strain, stress relaxation and creep of TPM are close to the experimental data of the real liver. Simulated results show that TPM has better real-time, stability and accuracy. © Bao et al.

关键词： Viscoelasticity

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An online calibration method for six-dimensional force/torque sensor based on shape from motion combined with complex algorithm

An online calibration method for six-dimensional force/torqu...

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IEEE International Conference on robotics and Biomimetics

作者： Yongjun Sun Yajuan Li Yiwei Liu Hong Liu PhD degree as graduate student in School of Mechanics Harbin Institute of Technology (HIT) Aviation Industry Corporation of China Shenyang Aeroengine Research Institute State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT)

ISBN: (纸本)9781479973989

The traditional six-dimensional force/torque sensor calibration method requires a lot of precision loading force and can only be off-line calibration. In this paper, to solve the problem, an online calibration and decoupling method based on the shape from motion combined with complex algorithm is proposed. It does not require accurate and redundant loading force information, and have better noise suppression characteristics just as the LSM in high-precision load, high redundant data acquisition correction. Compared to LSM, SFM method is a more efficient, high-precision calibration method. In the calibration process of SFM, a known force is applied in any direction within the space of the sensor, while the original output data is recorded in each direction. Finally, the algorithm is validated by carrying out experiment on one kinds of JR3 six-dimensional force/torque sensor.

关键词： Force Calibration Torque Shape Robot sensing systems Loading Matrix decomposition

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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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IEEE International Conference on Mechatronics and Automation

作者： Yanjie Liu Jiang Wu Haijun Han Tao Liu Harbin Institute of Technology Harbin Heilongjiang CN 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 Japan Kochi Koka Daigaku Kami Kochi JP

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.

关键词： Force Piezoresistance Materials Force measurement Force sensors Robot sensing systems Friction

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A novel EMG control method for multi-DOF prosthetic hands with electrical stimulation feedback

A novel EMG control method for multi-DOF prosthetic hands wi...

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Huang, Qi Jiang, Li Yang, Dapeng Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Harbin China

ISBN: (纸本)9783642408519

In this paper a novel bidirectional control scheme for multigrasp prosthetic hands with forward EMG control and backward sensory feedback is proposed. Based on the knowledge of grasp taxonomy and the principle of finite state machine (FSM), users can control multi-DOF prosthetic hands with the EMG control strategy to accomplish 7 most frequently used hand gestures, which occupy 85% of hand usage in activities of daily life. Besides, to restore the comprehensive sense of control, the transcuataneous electrical nerve stimulation (TENS) is adopted to apperceive the gripping force. Experiments were conducted on a 5-DOF prosthetic hand to evaluate both the grasp success rate and the average grasp time, according to each grasp task. The results show that the proposed method can effectively recognize the contraction patterns with the grasp success rate of nearly 95%, and the control state can be rapidly switched with the average operation time less than 20 seconds, which in all ensures fluent hand grasps. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Sensory feedback

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Model predictive control of Microgrid based on Mixed Logic Dynamic

Model predictive control of Microgrid based on Mixed Logic D...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Shigong Jiang Hongpeng Liu Wei Wang State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin China School of Mechatronical Engineering Beijing Institute of Technology Beijing China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

By analyzing the hybrid property of Microgrid in detail, a mixed logical dynamical model is set up with Hybrid theory. The energy in DC bus capacitor is chosen as state variable, the system functions and constraints with continuous state variables, input control variables, logical variables and auxiliary variables are presented. Based on the MLD model, model predictive control theory is applied for the purpose of reducing the batteries switching times between charge and discharge, the DC bus voltage fluctuation is compressed simultaneously. The quadric form objective function is designed and optimal input control variable sequence is achieved by mixed integer quadratic programming method. A simulation prototype is established, simulation results testify the proposed method can both suppress DC bus voltage fluctuation and decrease switching times of battery energy storage system.

关键词： Microgrids Batteries Predictive control Switches Discharges (electric) Voltage control

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A COMPUTATIONALLY EFFICIENT SOURCE LOCALIZATION METHOD FOR A MIXTURE OF NEAR-FIELD AND FAR-FIELD NARROWBAND SIGNALS

A COMPUTATIONALLY EFFICIENT SOURCE LOCALIZATION METHOD FOR A...

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IEEE International Conference on Acoustics, Speech and Signal Processing

作者： Weiliang Zuo Jingmin Xin Jiasong Wang Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an 710049 China State Key Laboratory of Astronautic Dynamics Xi'an 710043 China Department of System Design Engineering Keio University Yokohama 223-8522 Japan

ISBN: (纸本)9781479928941

In this paper, we consider the source localization for a mixed near-field (NF) and far-field (FF) narrowband signals impinging on a uniform linear array (ULA) with the symmetrical geometric configuration. A computationally efficient direction-of-arrivals (DOAs) and range estimation method for the mixed NF and FF signals is proposed, where the DOAs of the NF and FF signals are estimated separately, and the computationally burdensome eigendecomposition is avoided. Comparing to some existent methods, the proposed method can separate the NF signals from the FF signals more efficiently, and consequently the estimation performance is improved. The effectiveness of the proposed method is verified though numerical examples.

关键词： signals Narrowband near-field Position measurement network file system uniform linear arrays United states Department of Agriculture Logic arrays

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A simple algorithm for position and velocity estimation of mobile robots using omnidirectional vision and inertial sensors

A simple algorithm for position and velocity estimation of m...

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IEEE International Conference on robotics and Biomimetics

作者： Luyang Li Yun-Hui Liu Kai Wang Mu Fang Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong State Key Laboratory of Robotics Technology and System Harbin Institute of Technology Harbin China Chinese University of Hong Kong New Territories HK

ISBN: (纸本)9781479973989

Despite of many efforts by researches, real-time localization of mobile robot only using onboard sensor is still an open problem in mobile robotics. To contribute this research area, in this paper, a simple and effective method is proposed based on an adaptive estimator for estimating the position and linear velocity of a mobile robot in an unknown and unstructured environment using measurements of onboard inertial sensors and visual feedback of a catadioptric vision system. This novel method is developed on the basis of a new projection model of catadioptric vision, where the highly nonlinear projection model of catadioptric vision can be represented as a similar form to that of perspective vision. It is proved that this method leads to global exponential convergence of the estimation errors of the robot's position and linear velocity to zero. Experimental results validate the performance of the proposed method.

关键词： Robot sensing systems Machine vision Estimation error Mobile robots Sensor systems

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Structure of the ball tensegrity robot

Structure of the ball tensegrity robot

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IEEE International Conference on robotics and Biomimetics

作者： Ani Luo R. E. Skelton Heping Liu Rongqiang Liu Hongwei Guo Longkun Wang College of Mechanical and Electrical Engineering Harbin Engineering University Harbin China Department of Mechanical and Aerospace Engineering University of California San Diego La Jolla CA USA State Key Laboratory of Robotics and System (HIT) Harbin China

ISBN: (纸本)9781479973989

A new kind of ball tensegrity robot is researched. Firstly, build up mathematical model of ball tensegrity robot with its node matrix and member matrices. Based on the relationships between the nodes and members, the connectivity matrices are introduced. Then members can be expressed by connectivity matrix and node matrix. Under given external load, system equilibrium functions are set up, and we solve for the internal force density matrix of the tensegrity structure. Consideration yielding failure and buckling failure constraints, minimal mass of total structure is computed. The internal force density of the members is optimized to get the minimal mass. And minimal radii of members are derived. Simulation and physical structure test mode are made.

关键词： Force Bars Robots Silicon Mathematical model Shape Bismuth

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Dynamic modeling and analysis of A 3-DOF parallel haptic device

Dynamic modeling and analysis of A 3-DOF parallel haptic dev...

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2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013

作者： Yili, Fu Yang, Yang Bo, Pan Shuguo, Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467355582

This paper has developed a three degree-offreedom (3-DOF) haptic device which has adopted parallel structure. Compared with haptic devices adopting serial structure, parallel haptic devices have low inertia, high stiffness and can transfer large force or torque. Although parallel mechanism possess advantages above mentioned and other benefits, the presence of its closed-loop structure and redundant joints make it difficult to develop a dynamic model, which is essential in creating a model-based control strategy for the device. To establish a simple dynamic model that can be easily calculated in real time, the virtual work principle is used. After derivation of the kinematic and dynamic equations, simulation using ADAMS is conducted to verify the validity of dynamic model. Given that it is highly efficient and correct, the dynamic modeling can be used for real-time force feedback control. © 2013 IEEE.

关键词： Dynamic models

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