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International Conference on Industrial and Information systems, IIS

作者： Li Teng Liu Yanjie Sun Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

The increasingly widespread industrial applications of permanent magnet linear synchronous motor (PMLSM) are self evident testimonies of the effectiveness of PMLSM in addressing the high requirements associated with these application areas. PMLSM direct drive system is a typical multi-domain system. This article proposes a bond graph model of PMLSM that can incorporate with other components in direct drive system to form dynamic electromechanical model. Principle of PMLSM under field-oriented control is equal to DC motor is illustrated firstly. Then bond graph model of PMLSM is built according to the equivalent circuit. The model is validated by comparing with a common used model which shows that bond graph model are equal to the model and represents clearly interactions between elements.

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A method for micro-spheres manipulation based on capillary force control

A method for micro-spheres manipulation based on capillary f...

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2010 Second International Conference on Intelligent Human-Machine systems and Cybernetics(第二届智能人机系统与控制论国际学术会议 IHMSC 2010)

作者： Weibin Rong Taochou Liu Lefeng Wang State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinChina

To utilize the adhesion forces and avoid the design complexity derived from the electrochemical treatment of operating tools, a method for micro-objects manipulation based on the capillary force is presented. The pickup and release model of micromanipulation were established. The manipulation scheme was performed by mechanical motion to change the capillary force generated by the liquid medium between the tool and micro-sphere, so the microsphere can be picked up and released successfully. The experiments about sub-millimeter stannum spheres demonstrated the simplicity and feasibility of this method.

关键词： mkromanipulation liquid medium capillary force

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Pose planning for robotically assisted minimally invasive surgery

Pose planning for robotically assisted minimally invasive su...

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International Conference on BioMedical Engineering and Informatics (BMEI)

作者： Gang Li Dongmei Wu Ruqi Ma Kai Huang Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Robotically assisted minimally invasive surgery (RAMIS) is an increasingly important technology, which leads to great advances in the field of general surgery. However, the potential of this technology is constrained by the collision occurred during the operation. One effective solution to this problem is through an efficient preoperative planning for the robotic system, including port placement, robot base placement and pose planning. This paper mainly discusses the pose planning problem, referred to as the initial configuration of stationary joints, and describes a pose planning method for the minimally invasive robotic surgery system currently under developed. This method utilizes an optimization procedure, which includes criteria to guarantee a collision-avoidance operation, under the constraint of ensuring the fixed positions of entry port in patient's body, to position the stationary joints at the beginning of the operation properly.

关键词： Manipulators Joints Planning Surgery Robot kinematics Instruments

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Quantitative relationship modeling between Surface Electromyography and elbow joint angle

Quantitative relationship modeling between Surface Electromy...

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International Conference on BioMedical Engineering and Informatics (BMEI)

作者： Dongmei Wu Xin Sun Zhicheng Zhang Zhijiang Du Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Research based on Surface Electromyography (sEMG) has important significance in enlightening the control precision of artificial limb. sEMG and elbow joint angle from 4 muscles of human's upper limb is extracted in the process of elbow bending and stretching. The quantitative relationship model of sEMG and elbow joint angle is established through Nerve Network (sEMG feature as input set and elbow joint angle as output set) and the prediction effect is also estimated based on two methods (Mean value and RMS of the error between predicted joint angle and actual joint angle; linear regressive method). Prediction comparison between different feature extraction methods (RMS and Mean Power Frequency) is also analyzed. The experimental results show that the mean error between the prediction angle based on sEMG and the practical angle are all less than 1 degree which means good prediction effect.

关键词： Joints Elbow Muscles Hidden Markov models Rhythm Electromyography Feature extraction

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Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots

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Journal of Central South University of Technology 2010年第4期17卷 807-815页

作者： Gen-liang Xiong Zong-wu Xie Jian-bin Huang Hong Liu Zai-nan Jiang Kui Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany

A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping method that has “explosion of terms” problem, the new proposed control system is a combination of the dynamic surface control technique and the backstepping. The dynamic surface control (DSC) technique can resolve the “explosion of terms” problem that is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity of the method was proved in the laboratory environment that was set up on the 5-DOF (degree of freedom) flexible joint robot. Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were achieved successfully as depicted theoretically.

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Spatial Geometry Modeling of Truss Structure and Analysis of Connection Deviation for Deployable Truss Antenna

Spatial Geometry Modeling of Truss Structure and Analysis of...

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2010 International Conference on Measuring Technology and Mechatronics Automation(ICMTMA 2010)(2010年检测技术与机电自动化国际会议)

作者： Dake Tian Rongqiang Liu Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424450015

Aiming at the problem of connection deviation of truss structure for deployable truss antenna (DTA) with hexagonal prism modules, spatial geometry model of multimodule truss structure is presented based on the homogeneous coordinate transformation method, which can be used in multi module truss structure whose module number is less than seven. The structure and deployment principle of modules are introduced. According to the connection characteristics of modules, the geometry model of a single module is established, then transformation matrixe of basic coordinate system of any module to total coordinate system and coordinate of any point are all obtained. The equation of connection deviation is derived, and influencing factors on connection deviation are analyzed. Furthermore, the adjusting method of connection deviation is proposed. The spatial geometry model of truss structure can be taken as the theoretical basis for design and measurement of truss structure.

关键词： deployable antenna truss structure module connection deviation geometry modeling coordinate transformation

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Three-dimensional geometric modeling of the spine based on reverse engineering technology

Three-dimensional geometric modeling of the spine based on r...

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International Conference on BioMedical Engineering and Informatics (BMEI)

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

In human skeletal system, the spine shape is very complex, so its geometric model reconstruction is particularly important. The spine geometric model is created by the main use of reverse modeling method. In this paper, the three-dimensional spine mesh model is reconstructed firstly by marching cubes (MC) algorithmwhich is a popular technique for isosurface extraction from a volume data set. Then, the mesh model is turned into a realistic geometric model by reverse engineering methods. It can be seen that the spine geometric model and its anatomy has a good similarity by comparing and analyzing. This kind of modeling method provides a choice for complex bone structures. And the final geometric model can be imported into three-dimensional modeling software and finite element analysis software for surgical planning and biomechanical analysis.

关键词： Solid modeling Surface reconstruction Data models Reverse engineering Image reconstruction Surface fitting Three dimensional displays

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Kinematics and simulations of space manipulator in three work modes

Kinematics and simulations of space manipulator in three wor...

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International Symposium on systems and Control in Aerospace and Astronautics (ISSCAA)

作者： Fuhai Zhang Yili Fu Shibo Yan Shuguo Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424460434

In recent years, research on space robotics has attracted considerable attention. Kinematics of the free-flying or free-floating space manipulator system, including a spacecraft and a manipulator mounted on the spacecraft, is a significant problem. In free-floating work mode, the spacecraft will move freely in response to the disturbances caused by the manipulator motions. From the view of application, change of the spacecraft attitude for the space manipulator system is not desirable. Therefore, it is of significance to adopt the free-floating with zero-disturbance spacecraft attitude work mode. This paper presents an overview of the kinematics of the space manipulator system. Position and velocity kinematics solutions in three work modes are analyzed. The kinematics differences among the three work modes are formulated. The simulation results validate the effectiveness of the kinematics solutions in the three work modes.

关键词： Space vehicles Kinematics Joints Manipulator dynamics Aerospace electronics Jacobian matrices

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Design and realization of an interactive medical images three dimension visualization system

Design and realization of an interactive medical images thre...

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International Conference on BioMedical Engineering and Informatics (BMEI)

作者： Dongmei Wu Heqiang Tian Guangxin Hao Zhijiang Du Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, an interactive medical three-dimensional visualization system is realized based on VTK. This program is designed primarily for the CT images to realize such functions as reading and displaying of image files and interactive three-dimensional reconstruction. The threshold for three-dimensional reconstruction is interactively selected by marching squares algorithm (MS), which is more convenient and more interactive for three-dimensional reconstruction by marching cubes algorithm (MC) than the traditional method that the various reconstruction thresholds are simply entered based on experience. The functional stability and good human-computer interaction of this system greatly improve accuracy and scientificity of medical diagnosis and treatment planning. The system is designed based on modular, which is not only used as a separate visualization system for medical diagnosis, but also its functions will be further added and constantly improved aiming at the different surgical needs.

关键词： Image reconstruction Three dimensional displays Mice DICOM Pixel Data visualization

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Stable and accurate trajectory control technology for the wafer transfer robot

Stable and accurate trajectory control technology for the wa...

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International Conference on Information and Automation (ICIA)

作者： Yanjie Liu Yong Hu Xiaofei Zheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

During the processing of wafer, in order to avoid the friction between wafer and wafer box, and to guarantee the clean state of the working environment simultaneously, small contour error and little vibration are required for wafer transfer robot to deliver wafer, i.e., to achieve stable and accurate trajectory for wafer delivery. To lessen contour error, suppress vibration, a kind of control algorithm has been proposed in this paper combining cross-coupled synchronized control and input shaping. Via cross-coupled synchronized control, synchronization of the actuating joint can be improved and the contour accuracy can be enhanced; through the shaping of the driving impulses for the shoulder joint and the elbow joint by input shaper, the vibration at the end-effector can be reduced. Based on the experiments verified on the planar joint wafer transfer robot, it shows that the synchronizing and vibration-suppressing performance is excellent by taking advantage of the method covering both cross-coupled synchronized control and input shaping.

关键词： Robot kinematics Vibration control Shape control Error correction Master-slave robotics and automation Friction Trajectory Synchronous motors Robot control

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