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Algorithm for simulator's road spectrum signal

key Engineering Materials 2011年 458卷 237-245页

作者： Zhao, Zhenmin Kong, Minxiu Du, Zhijiang Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China College of Electric and Information Engineering Heilongjiang Institute of Science and Technology Harbin 150027 China

In response to the impossibility of directly using data of the actual road show experiment to the motion simulation of simulators, due to the limited work space of simulators, this paper begins with an attempt to extract the main frequency components of original signals by spectrum analysis and allow the input signal to meet performance requirements by adjusting the phase offset corresponding to the various frequency components. The paper proceeds with the regeneration of the signals capable of reflecting the motion characteristics of the original data and meeting the performance requirements of motion simulators by selecting these phase offsets as the design variables, selecting simulator's displacement, velocity, and acceleration as the optimization objectives and applying Genetic Algorithm toolbox of Matlab to develop the optimization model. The paper ends with the efforts to check mechanism singularity by calculating the Jacobian matrix condition number of the regenerating signals and thus obtain the regenerating signals compatible with the work space, capable of fulfilling the performance requirements of motion simulators and free of continuous region singularity. © 2011 Trans Tech Publications, Switzerland.

关键词： Genetic algorithms

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Adaptive Trajectory Tracking Control for a Nonholonomic Mobile Robot

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Chinese Journal of Mechanical Engineering 2011年第4期24卷 546-552页

作者： CAO Zhengcai ZHAO Yingtao WU Qidi College of Information Science and Technology Beijing University of Chemical Technology Beijing 100029 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China CIMS Research Center Tongji University Shanghai 200092 China

As one of the core issues of the mobile robot motion control, trajectory tracking has received extensive attention. At present, the solution of the problem only takes kinematic or dynamic model into account separately, so that the presented strategy is difficult to realize satisfactory tracking quality in practical application. Considering the unknown parameters of two models, this paper presents an adaptive controller for solving the trajectory tracking problem of a mobile robot. Firstly, an adaptive kinematic controller utilized to generate the command of velocity is designed based on Backstepping method. Then, in order to make the real velocity of mobile robot reach the desired velocity asymptotically, a dynamic adaptive controller is proposed adopting reference model and Lyapunov stability theory. Finally, through simulating typical trajectories including circular trajectory, fold line and parabola trajectory in normal and perturbed cases, the results illustrate that the control scheme can solve the tracking problem effectively. The proposed control law, which can tune the kinematic and dynamic model parameters online and overcome external disturbances, provides a novel method for improving trajectory tracking performance of the mobile robot.

关键词： nonholonomic mobile robot trajectory tracking model reference adaptive

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Algorithm analysis for a rover simulation platform

Algorithm analysis for a rover simulation platform

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2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011

作者： Gao, Haibo Li, Weihua Ding, Liang Deng, Zongquan Liu, Zhen Guo, JunLong Research Center of Aerospace Mechanism and Control State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781612840857

In recent years, the rover-based planetary exploration missions have put forward some new challenges to the simulation platforms for rovers. This paper introduces a simulation platform, ROSTDyn (ROver Simulation based on Terramechanics and Dynamics), for planetary rovers developed with C++ programming language on the basis of Vortex software. In this paper, the structure of ROSTDyn is introduced briefly. key algorithms for developing ROSTDyn are presented in detail, including the computation of the contact-area parameters, the transformation of velocity and force, the balance of the forces, and the integration of the algorithms and the modules. The simulation results verify that the algorithms are right, the integration is effective and the simulation runs stable. © 2011 IEEE.

关键词： Rovers

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Sliding mode control based hybrid closed-loop design for stable walking of biped robot with heterogeneous legs

Sliding mode control based hybrid closed-loop design for sta...

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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Wang, Fei Wen, Shiguang Wu, Chengdong Cheng, Zhiyong State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 158100 China

ISBN: (纸本)9781424481149

Biped robot with heterogeneous legs (BRHL) is a new kind of robotic mode consist of artificial leg (AL) used to simulate healthy lower limb and bionic leg corresponding to lower limb prosthesis worn by amputee. The bionic leg recognizes and tracks the gait of AL in real-time to realize stable walking of the whole robotic system. To achieve smooth, effective and human-like gait for AL, s-curve interpolation was employed to fit the discrete data points generated by linear inverted pendulum model. A hybrid closed-loop system was constructed to improve the gait tracking accuracy and sliding mode control was designed for outer loop of the joints' servo system. Simulations and experiments were conducted under level walking condition. The results indicate the correctness and effectiveness of the proposed scheme. © 2011 IEEE.

关键词： Sliding mode control

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A measurement and control system based on USB bus for prosthetic hand

A measurement and control system based on USB bus for prosth...

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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Ting, Zhang Li, Jiang Nan, Li Hong, Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany

ISBN: (纸本)9781424481149

A five-fingered, multi-sensory and biomimetic prosthetic hand is presented in this paper. And the measurement and control system of HIT prosthetic hand based on the DSP and USB chip(ATmega32U2) is presented. The measurement and control system communicate with PC by USB bus, and the measurement and control system use the power supplied by USB electric cable. This system include bottom control subsystem, USB communications subsystem. The ATmega32U2 communicate with DSP by SPI(the pins of SS, SCLK, MOSI, MISO), and the ATmega32U2 configure as master mode, while the DSP configure as slave mode in the SPI. The communication speed of SPI between Atmega32U2 and DSP can achieve 8Mbit/s, and the communication speed of USB between master computer and USB chip is 12Mbit/s. The USB interface circuit, firmware program, drive program and PC application software are design. The proposed impedance control approach allows the fingers to behave as virtual springs. Experiments showed that users were able to successfully operate the device in the control strategies, and that the grasp success increased with more interactive control. The experiment results shows that this measurement and control system have high real-time property and reliability. © 2011 IEEE.

关键词： Application programs

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Experimental evaluation of Cartesian and joint impedance control with adaptive friction compensation for the dexterous robot hand DLR-HIT II

Experimental evaluation of Cartesian and joint impedance con...

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作者： Chen, Zhaopeng Lii, Neal Y. Wimböck, Thomas Fan, Shaowei Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Harbin China Institute of Robotics and Mechatronics German Aerospace Center 82234 Wessling Germany

This paper presents impedance controllers with adaptive friction compensation for the five-finger dexterous robot hand DLR-HIT II in both joint and Cartesian space. An FPGA-based control hardware and software architecture with real-time communication is designed to fulfill the requirements of the impedance controller. Modeling of the robot finger with flexible joints and mechanical couplings in the differential gear-box are described in this paper. In order to address the friction due to the complex transmission system and joint coupling, an adaptive model-based friction estimation method is carried out with an extended Kalman filter. The performance of the impedance controller with both adaptive and parameter-fixed friction compensations for the robot hand DLR-HIT II are analyzed and compared in this paper. Furthermore, gravity estimation is implemented with Least Squares technique to address uncertainties in gravity compensation due to the close proximity and complexity of robot hand components. Experimental results prove that accurate position tracking and stable torque/force response can be achieved with the proposed impedance controller with friction compensation on five-finger dexterous robot hand DLR-HIT II. © 2011 World Scientific Publishing Company.

关键词： Controllers

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A circular bend mode piezoelectric micro-droplet ejection generator for spatial lubrication

A circular bend mode piezoelectric micro-droplet ejection ge...

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2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011

作者： Sheng, Mingwei Chen, Weishan Liu, Junkao Shi, Shengjun State Key Laboratory of Robotics and System Harbin Institute of Technology 92 West Da-Zhi Street Harbin 150001 China

ISBN: (纸本)9781612840857

The paper reaches into a circular bend mode piezoelectric micro-droplet ejection generator, and a complete relation model from the voltage pulse applied on the piezoelectric transducer to ejection parameters of high viscosity aerospace lubricant droplet was established. Based on the Finite Element Analysis (FEM), transient response analysis of FEM modal was carried out, and the vibration equation of circular piezoelectric transducer was obtained by means of curve fitting. Multi-phase computational fluid dynamics (CFD) software was involved, and the gas liquid two-phase flow near the nozzle was established. To solve the interface movements with continuing topology changes, volume-of-fluid method (VOF) along with the piecewise linear interface construction (PLIC) techniques were implemented to describe the interfacial movements. A computational approach based on VOF method was applied to analyze the ejection process of lubricant droplet. And the effects of internal factors consist of dynamic viscosity and surface tension on the ejection parameters were investigated emphatically. © 2011 IEEE.

关键词： Finite element method

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Bond graph approach to the modeling of permanent magnet linear synchronous motor with consideration of end-effect

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Dianji yu Kongzhi Xuebao/Electric Machines and Control 2011年第2期15卷 71-75+83页

作者： Li, Teng Liu, Yan-Jie Sun, Li-Ning Guo, Cui-Juan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

In order to analyze the thrust force characters of permanent magnet linear synchronous motor (PMLSM) and to build global electromechanical model of motor drive system, bond graph model of PMLSM was proposed, in which the end effect character of linear motor was included. Referring to the method used in the analysis of rotating motor, model of PMLSM under d-q reference frame was built. Besides, magnet distortion caused by end effect was described by magnetic field generated by mutual inductance and current. According to them, equivalent circuit of PMLSM was got then transformed to bond graph model through bond graph theory and state space equation of system was established. Simulation and experiment with a homemade motor are conducted, results validate the correctness of the model and show velocity oscillation caused by end effect, in which the value of oscillation cycle is equal to polar distance.

关键词： Vector control (Electric machinery)

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Linear motion control of two-pendulums-driven spherical robot

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2011年第11期47卷 1-6页

作者： Zhao, Bo Wang, Pengfei Sun, Lining Li, Mantian State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

A spherical robot driven by two pendulums is designed, which is actuated by both the eccentric force and the inertial force generated by the inner drive unit when the robot is in motion. Because of the point contact between spherical shell and ground, the friction cannot counteract the change of motion state caused by motion error of inner drive unit when the robot is in a switching process between static configuration and dynamic configuration. A linear motion control method of two-pendulums-driven spherical robot is studied for the stable start-stop and speed control. The dynamic model of linear motion is constructed by Lagrange equation. A Gaussian function based smooth trajectory control method for linear motion is proposed through analysis of the relationship among dynamic parameters, and the correctness of the method is verified theoretically by simulation. A feedback controller of linear motion is designed to guarantee the accurate tracking of the expected value of practical control signals. The effectiveness of the controller is validated by simulation and prototype experiment. © 2011 Journal of Mechanical Engineering.

关键词： Feedback control

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Visualization and real-time tracking technologies of the probe used in surgical navigation based on electromagnetic positioning

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Jiqiren/Robot 2011年第1期33卷 59-65页

作者： Tian, Heqiang Wu, Dongmei Wang, Jihu Du, Zhijiang Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

The visualization and real-time tracking technologies of the probe in surgical navigation system are studied. The electromagnetic positioning method is introduced, and the probe with data acquisition function is designed based on electromagnetic positioning. Firstly, the probe model is constructed by means of three-dimensional solid modeling technology, and the transformation from the solid geometry model to the three-dimensional surface models is completed. Secondly, the probe tip is registered using the pivot calibration method and the registration accuracy is also tested. Then, the registration between the CT model and the patients site is realized intraoperatively by means of iterative closest point (ICP) algorithm, and simulation analysis and accuracy verification are carried out. Finally, according to the preoperatively registered position and orientation, the spatial location of the probe is tracked in real-time and accurately, and is displayed in the system. The results show that the data acquisition function and registration accuracy of the probe, as well as the effect of registration algorithms can meet the needs for surgical navigation.

关键词： Visualization

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