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IEEE International Conference on robotics and Biomimetics

作者： Yongjun Sun Yiwei Liu Minghe Jin Hong Liu School of Mechanics Harbin Institute of Technology(HIT) State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)

Six-axis force/torque sensor plays an important role in many fields. A novel six-axis force/torque sensor based on strain gauge was designed and optimized with design of experiments (DOE) approach and response surface methodology. In order to reduce the errors bonding strain gauges, we adopted strain distribution analysis to acquire the accurately positions. The strain compliance matrix was attained by the signals from strain gauges bonded on the elastic body of the sensor. According to strain compliance matrix of the sensor we can obtain a sensor with rather good measurement isotropy, high sensitivity and natural frequency which is nearly as bandwidth of commercial six-axis sensor.

关键词： Strain Robot sensing systems Force Torque Sensitivity Bridge circuits

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Adaptive visual servoing using common image features with unknown geometric parameters

Adaptive visual servoing using common image features with un...

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作者： Liu, Yun-Hui Wang, Hesheng Chen, Weidong Zhou, Dongxiang Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China State Key Laboratory of Robotics Technology and System Harbin Institute of Technology Harbin 150001 China Joint Center for Intelligent Sensing and Systems National University of Defense Technology China

This paper generalizes the concept of the depth-independent interaction matrix, developed for point and line features in our early work, to generalized image features. We derive the conditions under which the depth-independent interaction matrix can be linearly parameterized by the geometric parameters of the generalized image features, and propose an adaptive visual servo controller for robot manipulators using the generalized image features whose geometric parameters are unknown. To estimate the unknown parameters on-line, we propose new error functions that are linear to estimation errors of the parameters and an algorithm that minimizes the error functions using multiple images. The Lyapunov theory is used to prove asymptotic stability of the proposed controller based on the nonlinear dynamics of the manipulator. It is also shown that in addition to points and lines, other common image features like distances, angles, areas, and centroids all satisfy the conditions for the linear parameterization. Experiments have been conducted to validate the proposed control method. © 2013 Elsevier Ltd. All rights reserved.

关键词： Controllers

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Design Schemes and Comparison Research of the End-effector of Large Space Manipulator

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Chinese Journal of Mechanical Engineering 2012年第4期25卷 674-687页

作者： FENG Fei LIU Yiwei LIU Hong CAI Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

The end-effector of the large space manipulator is employed to assist the manipulator in handling and manipulating large payloads on ***,there are few researches about the end-effector,and the existing end-effectors have some disadvantages,such as poor misalignment tolerance capability and complex mechanical *** to the end positioning errors and the residual vibration characters of the large space manipulators,two basic performance requirements of the end-effector which include the capabilities of misalignment tolerance and soft capture are *** the end-effector should accommodate the following misalignments of the mechanical *** translation misalignments in axial and radial directions and the angular misalignments in roll,pitch and yaw are ±100 mm,100 mm,±10°,±15°,±15°,*** end-effector schemes are presented and the capabilities of misalignment tolerance and soft capture are analyzed *** three fingers-three petals end-effector and the steel cable-snared end-effector are the most feasible schemes among the seven schemes,and they are designed in *** capabilities of misalignment tolerance and soft capture are validated and evaluated,through the experiment on the micro-gravity simulating device and the dynamic analysis in ADAMS *** results show that the misalignment tolerance capabilities of these two schemes could satisfy the *** the translation misalignment tolerances in axial and radial directions and the angular misalignment tolerances in roll,pitch and yaw of the steel cable-snared end-effector are 30mm,15mm,6°,3° and 3° larger than those of the three fingers-three petals end-effector,*** the contact force of the steel cable-snared end-effector is smaller and smoother than that of the three fingers-three petals *** end-effector schemes and research methods are beneficial to the developments of the large space manipulator end-effctor and t

关键词： end-effector large space manipulator docking mechanism soft capture misalignment tolerance passive compliance active compliance

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A rotary ultrasonic motor using radial bending mode of ring with nested PZT excitation

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2012年第3期13卷 189-196页

作者： Ying-xiang LIU Jun-kao LIU Wei-shan CHEN Xiao-hui YANG State Key Laboratory of Robotics and System Harbin Institute of Technology Horbin 150001 China

This study presents and verifies a new idea for constructing a rotary traveling wave ultrasonic motor （USM） that uses the radial bending mode of a ring. In the new design, 20 trapezoid cross section slots are cut symmetrically in the outer surface of a thick duralumin alloy ring, where 20 PZT stacks are nested. In each slot, two wedging blocks are set between the PZT stack and the two sides of the slot respectively to apply preloading on the PZT ceramics. Two radial bending modes of the stator that have a phase difference of a quarter wavelength on space are generated by using the d33 operating mode of the PZT elements, and then a flexural traveling wave is formed by the superimposing of two standing waves whose amplitudes are equal and phases are different by 90~ temporally. Two conical rotors are pressed to each end of the ring type stator by a coiled spring. The finite element method （FEM） simulation is developed to validate the feasibility of the proposed motor. The maximal speed and torque of the prototype are tested to be 126 r/rain and 0.8 N＇m, respectively.

关键词： Rotary ultrasonic motor Radial bending mode Traveling wave Wedging block clamped structure

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Adding Sub-chain Method for Structural Synthesis of Planar Closed Kinematic Chains

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Chinese Journal of Mechanical Engineering 2012年第2期25卷 206-213页

作者： DENG Zongquan YANG Fei TAO Jianguo State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China

For at least the past five decades,structural synthesis has been used as a main means of finding better mechanisms with some predefined *** structural synthesis,isomorphism identification is still a problem unsolved well,and to solve this problem is very significant to the design of new *** to the given degree of freedom（DOF） and link connection property of planar closed chain mechanisms,vertex assortment is *** solving the isomorphism problem,a method of the adding sub-chains is proposed with the detailed steps and algorithms in the synthesizing *** this method,the identification code and formation code of every topological structure are achieved,therefore many isomorphic structures could be eliminated in time during structural synthesis by comparing those codes among different topological graphs,resulting in the improvement of synthesizing efficiency and accuracy,and the approach for eliminating rigid sub-chains in and after the synthesizing process is also *** examples are given,including how to add sub-chains,how to detect simple rigid sub-chains and how to obtain identification codes and formulation codes et *** the adding sub-chain method,the relative information of some common topological graphs is given in the form of *** comparison result is coincident with many literatures,so the correctness of the adding sub-chain method is *** method will greatly improve the synthesizing efficiency and accuracy,and has a good potential for application.

关键词： structural synthesis adding sub-chain method identification code formation code rigid sub-chains

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A fast connected components labeling algorithm for binary images

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Journal of Harbin Institute of Technology(New Series) 2012年第3期19卷 81-87页

作者：付宜利韩现伟王树国 State Key Laboratory of Robotics and System Harbin Institute of Technology

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.

关键词： binary image connected components labeling algorithm Union-Find label-equivalence

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Traveling property of wheel-type pipeline robot with different configurations

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Journal of Beijing Institute of Technology 2012年第1期21卷 58-63页

作者：唐德威李庆凯姜生元邓宗全 State Key Laboratory of Robotics and System Harbin Institute of Technology

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.

关键词： pipeline robot movement in elbow pose model ratios of driving speed experiment validation

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Performance analysis of a small-scale unmanned helicopter under large wind disturbance

Performance analysis of a small-scale unmanned helicopter un...

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Chinese Control Conference (CCC)

作者： WenWu Zeng XiaoRui Zhu YanJie Li Lei Li State Key Laboratory of Robotics and System (HIT) Harbin 415100 China Harbin Institute of Technology Shenzhen Graduate School 518000 China

Large wind disturbance is harmful to the autonomous helicopters, especially to the small ones because of their low inertia and high cross-coupling effects among the multiple inputs. This paper has analyzed how the large wind disturbance would affect the performance of the small-scale unmanned autonomous helicopter (UAH) under the condition of hovering and forward flight. A group of polynomial functions were identified first according to the experiment data from the wind tunnel tests to estimate the variation of the total forces and moments caused by different large wind disturbances. Then, the wind resistance abilities of UAH are discussed based on further analysis of the wind tunnel experiment data. This paper has provided support to the controller design in order to attenuate large horizontal wind disturbances.

关键词： Force Helicopters Wind speed Electronic mail Performance analysis Laboratories Robots

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Tremor suppression strategy of the tremor suppression robot

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Journal of Harbin Institute of Technology(New Series) 2012年第1期19卷 1-6页

作者：赵杰李军强樊继壮臧希喆 State Key Laboratory of Robotics and System Harbin Institute of Technology

Based on the development of the performance of magnetorheological damper,the tremor suppression strategy that uses angle displacement sensor and force sensor to sense the information of the tremor and uses the fuzzy neural network as the control algorithm is presented. The information of the maximum tremor torque can be achieved exactly by means fusing the data of displacement sensor and the data of force sensor. Due to the slow change of the maximum tremor torque,the fuzzy neural network with single input variable and single output variable is adopted as the control algorithm,and the mathematic model of fuzzy neural network is worked out. The elbow tremor suppression model is established to provide tremor information for fuzzy neural network training and tremor suppression strategy simulation,then the off-line fuzzy neural network training is finished with the selected training data set,and the tremor suppression strategy is simulated. Simulation results show that the tremor suppression strategy has presented is effectually for the tremor suppression.

关键词： magnetorheological damper fuzzy neural network data fusion tremor suppression strategy

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Teleoperation of a space robot experiment system

Teleoperation of a space robot experiment system

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IEEE International Conference on robotics and Biomimetics

作者： Zongwu Xie Guangxin Wu Zainan Jiang Jing Xia Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilong Jiang China Harbin Institute of Technology Harbin Heilongjiang CN

ISBN: (纸本)9781479927456

This paper developed a teleoperation system of a space robot, which can assist the operator in planning trajectory quickly and intuitively. In addition to the general function, this system can ensure the completion of certain mission when some joint of the space robot is locked for a hardware malfunction. The teleoperation system includes 4 subsystems-Graphics display subsystem, Camera monitor subsystem, Tasks plan subsystem, and Haptic interface subsystem. The experimental results and the analysis of the data generated validate the effectiveness and correctness of our system.

关键词： Trajectory Joints Planning Haptic interfaces Space vehicles Manipulators

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