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

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Design and optimization of remote center motion mechanism of Minimally Invasive Surgical robotics

Design and optimization of remote center motion mechanism of...

引用

IEEE International Conference on robotics and Biomimetics

作者： Yili Fu Guojun Niu Bo Pan Kun Li Shuguo Wang The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479927456

Minimally Invasive Surgery (MIS) is less invasive and creating fewer post-operative complications compared with conventional surgery. This results in shorter recover times and, sometimes, outpatient treatment replaces for previously lengthier procedures. So MIS is the latest trend in surgery. However, MIS is usually associated with a limited view of the surgical view area and is difficult to handle of the surgical tools, in order to overcome these difficulties Remote Center Motion (RCM) is proposed. In this paper, a new RCM mechanism which is triangle is proposed, this mechanism is simple and high stiffness. A complete kinematic analysis and optimization incorporating the requirements for MIS are performed to find the optimal link lengths of the manipulator. The results show that for the serial triangle2-link manipulator used to guide the surgical tool, the optimization link angles are (74°,51°). Prior preoperative adjustment is realized by electromagnetic clutch, However, A new preoperative adjustment method which is realized by gravity compensation is proposed without electromagnetic clutch, the joint is simpler and lighter than conventional joint.

关键词： Surgery Joints Mathematical model Optimization Medical robotics Manipulators

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A miniature 3-axis distal force sensor for tissue palpation during minimally invasive surgery

A miniature 3-axis distal force sensor for tissue palpation ...

引用

IEEE International Conference on robotics and Biomimetics

作者： Kun Li Juncheng Zhan Bo Pan Yili Fu Shuguo Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479927456

This paper describes the design and development of a miniature 3-axis distal force sensor which can be applied in tissue palpation during minimally invasive surgery (MIS). The sensing principle is based on resistive sensing method that utilizes gauges to measure the strain of a flexible platform when exposed to a force. A novel tripod structure is designed and optimized as the flexible platform, it can generate enough strain to determine the magnitude and direction of 3 orthogonal force components (F x , F y , and F z ). The sensor prototype described in this paper can perform force measurement in axial and radial directions with working ranges of 3.0 N and 1.5 N, and the resolutions are 5% and 1% respectively. It is compatible with MIS instruments and can be used to perform tissue palpation.

关键词： Force Strain Robot sensing systems Flexible structures Instruments Surgery

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Application of orientation interpolation of robot using unit quaternion

Application of orientation interpolation of robot using unit...

引用

International Conference on Information and Automation (ICIA)

作者： Min-Xiu Kong Chen Ji Zheng-Sheng Chen Rui-feng Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479913329

Orientation interpolation has a great effect on the performance of industrial robot. Considering the singularity and unnatural rotation which are drawbacks of Euler angles in orientation interpolation of industrial robot, a novel interpolation method which is based on unit quaternion was presented. To achieve high order smoothness of orientation movement, sine-jerk trajectory planning combined with unit quaternion was developed for the orientation interpolation, which could guarantee C3 continuity of the orientation trajectory and has the potentials to control velocity and acceleration of robot, while traditional Spherical Linear Interpolation (SLERP) with unit quaternion can only generates C1 continuous trajectory. To test the validity of the orientation algorithms, a simulation platform based on a 6-DOF (degree of freedom) arc welding industrial robot including inverse kinematic and inverse dynamic of robot was built up. The simulation results indicated that the proposed approach is effective in the application of orientation interpolation of industrial robot.

关键词： Quaternions Interpolation Service robots Trajectory Acceleration Robot kinematics

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Control of a humanoid robot walking with dynamic balance

Control of a humanoid robot walking with dynamic balance

引用

IEEE International Conference on robotics and Biomimetics

作者： Guocai Liu Fusheng Zha Mantian Li Wei Guo Pengfei Wang Hegao Cai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin CHINA

ISBN: (纸本)9781479927456

In this paper, we proposed a simple algorithm for controlling humanoid walking. We take the body as control target and the legs as control tool. The passive dynamic of robot is used as much as possible, and the legs will execute necessary actions for adjusting body states through sensors' feedback. The hip actuators are used to avoid body from falling down including position and orientation which is the key for dynamic balance; the knee actuators are used to generate necessary spacing from ground when leg swinging; the ankle actuators are used to control walking velocity. Our control algorithm is test by simulation, the test shown that the robot can follow a given velocity and its maximum walking velocity is near to human, the robot won't fall down or deviate its destination when suffering a relative large disturbance. So our control algorithm is efficient and can be used to control humanoid robot walking.

关键词： Legged locomotion Knee Hip Heuristic algorithms Humanoid robots Foot

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Table tennis robot with stereo vision and humanoid manipulator I: system design and learning-based batting decision

Table tennis robot with stereo vision and humanoid manipulat...

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IEEE International Conference on robotics and Biomimetics

作者： Hong Liu Zhiqi Li Bin Wang Yang Zhou Qi Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479927456

In this paper, a 7-DoF robot table tennis system is presented, which adopts a stereo vision system as its perceptional sensor and a humanoid robot arm as its manipulator. The batting policy, which can return various incoming balls to a desired location, is learned through empirical data based on e-support vector regression(e-SVR). Two experiments, playing with a launcher machine and rallying with a human player, were carried out and the results verified the effectiveness of the proposed approach.

关键词： Manipulators Vectors Kinematics Stereo vision Visualization Support vector machines

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An integrated inverse kinematic approach for the 7-DOF humanoid arm with offset wrist

An integrated inverse kinematic approach for the 7-DOF human...

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IEEE International Conference on robotics and Biomimetics

作者： Li Jiang Xijian Huo Yiwei Liu Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479927456

The paper proposes an integrated approach to solve the inverse kinematics of the 7-DOF humanoid arm with offset wrist. Firstly, according to the arm's configuration, the closed-form solutions of inverse kinematics for 7-DOFs arms are developed based on the reverse coordinates method. Secondly, an integrated inverse kinematic approach, termed the modified gradient projection method, is proposed on the condition of closed form solutions and the gradient projection method. Thirdly, thanks to the arm's redundancy, multiple objectives optimization including avoidance of singularity, joint limits and joint velocity limits are completed during motions. And finally, the validity of the closed form solutions and the integrated approach is verified by kinematic simulations, and the integrated approach provides better precision and optimization during trajectory tracking.

关键词： Joints Kinematics End effectors Wrist Closed-form solutions Vectors

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Smooth and near time-optimal trajectory planning of robotic manipulator with smooth constraint based on cubic B-spline

Smooth and near time-optimal trajectory planning of robotic ...

引用

IEEE International Conference on robotics and Biomimetics

作者： Min-xiu Kong Chen Ji Zheng-sheng Chen Rui-feng Li Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781479927456

Minimum time optimization trajectory planning problem which can generate smooth trajectory of joints of robot is still complex and difficult to solve. A novel hybrid cubic B-spline and convex optimization method was presented for trajectory planning of robotic manipulator in this paper. First, the first and second derivatives of path trajectory coordinates s, called pseudo-velocity and pseudo-acceleration respectively, are introduced into robot dynamic model, and consequently transformed the optimal trajectory problem into convex optimization problem. Then, to obtain a jerk-bounded smooth trajectory of manipulator joints, the cubic B-spline was employed to construct the curve of the square of pseudo-velocity as smooth constraint of the transformed convex optimization model. Also, the process of solving the time-optimal problem is presented. Finally, numerical simulation on a three-DOF (degree of freedom) robotic manipulator is carried out. The results demonstrate the effectiveness of smoothing the trajectory of joints of robot with the proposed method.

关键词： Trajectory Joints Robot kinematics Planning Optimization Manipulator dynamics

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Detection method for planet rover slip ratio based on vision measuring technology

Detection method for planet rover slip ratio based on vision...

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Chinese Control Conference (CCC)

作者： Nan Li Liang Ding Haibo Gao Junlong Guo Weihua Li Zongquan Deng State Key Laboratory of Robotics and System (Harbin Institute of Technology) 150080 China

Planetary rovers need to move in the soft and deformable terrain environment cause of planetary rovers' wheel slip and sinkage. The detection of rovers' wheel slip ratio plays a significant role in motion control optimization and sinkage prevention. Experiment shows the relationship between the wheels trace shape and the slip ratio. This paper has proposed a detection method for planet rover slip ratio based on vision measuring technology. The model of slip ratio detection based on the wheels trace image is built on the mechanism of wheels trace. A new vision detection method of planet rover's slip is also presented, based on the feature of trace vision. This method is verified by the rover wheel experimental extended the vision system. Experiment verifies that this method is feasible and effective. The relative error of slip ratio detected by this method is about 5%.

关键词： Wheels Planets Extraterrestrial measurements Electronic mail Feature extraction Mobile robots

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Expansion Rod design method of Capturing Nozzle Device for non-cooperative satellite

Expansion Rod design method of Capturing Nozzle Device for n...

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IEEE International Conference on robotics and Biomimetics

作者： Yu Zhang Kui Sun Yuanfei Zhang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479927456

Expansion Rod Capturing Nozzle Device is developed to achieve the function of capturing the non-cooperative satellite by locking the main engine nozzle. Nozzle structure is captured by the device through its throat, so the size and mass are small. The overall structure design of the device and the operating principle of the Expansion Rod mechanism are described. A method of Meshing Profile Modeling is proposed and introduced in particular. The method is used to design the key component of Expansion Rod. The Expansion Rod designed by the modeling method and the not designed one are compared in virtual simulation software. Verify the correctness and necessity of the modeling method by the simulations. In order to study the working process of the device, the virtual simulation and the related experiments are carried out, and the experimental results were analyzed. The simulation and experiments results show that the designed Expansion Rod using the modeling method has the ability to capture and lock the satellite nozzle.

关键词： Satellites Mathematical model Solid modeling Load modeling Space vehicles Springs Robots

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Hybrid position-attitude control of DF-UAV based on generalized flight dynamics

Hybrid position-attitude control of DF-UAV based on generali...

引用

International Conference on Mechatronic Science, Electric Engineering and Computer

作者： Hongzhe Jin Yi Zheng Qingming Hou Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479925667

For a ducted fan unmanned aerial vehicle (DF-UAV), the aerodynamic forces comprising the aerodynamic lift and drag as well as their induced angular moments are the real physical inputs dominating the flight state. These forces originate from the motions of the duct, propeller and control surfaces. Therefore, this study considered an integrated modeling of DF-UAV and proposed a layered design method for the hybrid position-attitude controller based on the reference feedback and dynamic decoupling.

关键词： Aerodynamics Propellers Ducts Couplings Stability analysis Gravity

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