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Biennial Institute of Electrical and Electronics Engineers Conference on Electomagnetic Field Computation

作者： Qian Wang Jibin Zou Xinghe Fu Xintong Jiang State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781424470594

This paper performs an analysis on the magnetic coupling of phases for a novel transverse flux machine (TFM) by comparison of the values of self- and mutual- inductance. It is shown that the proposed TFM inherits the merit of magnetic decoupling of phases as in traditional TFM, and thus can readily achieve fault-tolerant operation and high-precision control.

关键词： Phase magnetic coupling Inductance Fault tolerance Transverse machine fine control

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An effective algorithm for needle tip displacement compensation in robot-assisted percutaneous surgery

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High Technology Letters 2010年第3期16卷 306-310页

作者： Sun, Yinshan Wu, Dongmei Du, Zhijiang Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

This paper presents an automatic compensation algorithm for needle tip displacement in order to keep the needle tip always fixed at the skin entry point in the process of needle orientation in robot-assisted percutaneous surgery. The algorithm, based on a two-degree-of-freedom (2-DOF) robot wrist (not the mechanically constrained remote center of motion (RCM) mechanism) and a 3-DOF robot arm, firstly calculates the needle tip displacement caused by rotational motion of robot wrist in the arm coordinate frame using the robotic forward kinematics, and then inversely compensates for the needle tip displacement by real-time Cartesian motion of robot arm. The algorithm achieves the function of the RCM and eliminates many mechanical and virtual constraints caused by the RCM mechanism. Experimental result demonstrates that the needle tip displacement is within 1 mm in the process of needle orientation. © by High Technology Letters Press.

关键词： Needles

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Influence of axial length ratio of stator segment on performance of tubular transverse flux linear machine

Influence of axial length ratio of stator segment on perform...

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14th Biennial IEEE Conference on Electromagnetic Field Computation, CEFC2010

作者： Mei, Zhao Zou, Ji-Bin Jiang, Xin-Tong Fu, Xing-He Sadarangani, Chandur State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Dept. Electrical Machines and Power Electronics KTH Teknikringen 33 10044 Stockholm Sweden

ISBN: (纸本)9781424470594

In this paper the influence of axial length ratio of stator segment on performance of tubular transverse flux linear machine (TTFLM) is investigated. The following issues have been emphasized: cogging force, winding flux, and back-EMF. The special topology of TTFLM requires 3-D finite element analysis to accurately predict the machine performance. However, equivalent 2-D finite element analysis is performed, which is more visual from physical view and faster from computing time than 3-D finite element analysis. © 2010 IEEE.

关键词： Finite element method

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Laser range finder based moving object tracking and avoidance in dynamic environment

Laser range finder based moving object tracking and avoidanc...

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： He, Fujun Du, Zhijiang Liu, Xiaolei Ta, Yueyue State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Department of Mechanical Science and Technology Daqing Petroleum Institute Daqing Heilongjiang Province China

ISBN: (纸本)9781424457021

The mobile robot that works in dynamic environment must have strong ability of avoiding obstacles especially moving objects and move to it original goal. To achieve the goal, the dynamic polar coordinate environment model based on laser range finder is set up, which can not only simplify the environment description but also improve the responding ability. Based on these data a moving object tracking model is also set up, which take into account the influence of moving platform, may obtain better tracking effect. The robot may anticipate the collision possibility, collision time and position from tracking algorithm, and then three obstacle avoiding policy is presented for robot to choose according to the collision estimation. The experiment shows good moving object avoiding result. ©2010 IEEE.

关键词： Mobile robots

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Dynamics and motion control of a two pendulums driven spherical robot

Dynamics and motion control of a two pendulums driven spheri...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Bo Zhao Mantian Li Haitao Yu Haiyan Hu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper deals with the dynamics and motion control of a spherical robot designed for reconnaissance and unstructured hostile environment exploration. The robot in this paper has three DOFs and two inputs, of which the nature is a nonlinear and underactuated system with nonholonomic dynamic constraints. The improved construction of two pendulums offers novel motion principle of spherical robot, which is moving simultaneously actuated by both eccentric moment and inertial moment generated by the two pendulums. Meanwhile the mobility is enhanced when the robot behaves dynamically. The emphasis is placed on the linear motion and turning in place motion control. The dynamic model of linear motion is formulated on the basis of Lagrange equation, and a smooth trajectory planning method is proposed for linear motion. A feedback controller is constructed to ensure the accurate trajectory planning. Turning in place motion is an indispensable element of omni directional locomotion which can enhance the mobility of spherical robots. The dynamic model of turning in place motion is derived on the theory of moment of momentum, and a stick-slip principle is analyzed. The two motion control methods are validated by both simulations and prototype experiments.

关键词： Robots Turning Dynamics Trajectory Planning Mathematical model

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Teleoperation system of Internet-Based Multi-Operator Multi-Mobile-Manipulator

Teleoperation System of Internet-Based Multi-Operator Multi-...

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International Conference on Electrical and Control Engineering (ICECE)

作者： Liang Ma Jihong Yan Jie Zhao Zhifeng Chen Hegao Cai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A teleoperation system of Internet-based Multi-Operator Multi-Mobile-Manipulator is proposed in this paper. The system consists of master sides and slave side, which has the characteristics of mobility, cooperation, distribution, fault tolerance, redundancy etc.. In master sides, with the aid of Distributed Virtual Environment and multi-video image, operators use the haptic interface device to control the remote robots via Internet. The 9-DOF mobile-manipulators which combine the mobility of the omnidirectional mobile plat and the manipulability of the manipulator are located in the slave side. Modules of ultrasonic location and ultrasonic/infrared distance measurement are arranged on the mobile-manipulators, and six-axis force sensors are fixed on the wrist of mobile-manipulators. Six video cameras are installed in slave side to provide the operators multi-video image. A network server collects the information of the sensors by WLAN and sends them to operators through net. With the aid of real-time multi-video image and feedbacks, operators could control the robots to complete the task. Finally, the effectiveness of the teleoperation system is illustrated by experiments that the operators control the robots to complete the role of delivering and transporting via Internet, and achieve loose coordination, mobile tight coordination and operated tight coordination teleoperation.

关键词： Robot kinematics Internet Robot sensing systems Fuels Manipulators Conferences

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Calibration of a 6-DOF parallel micromanipulator for nanomanipulation

Calibration of a 6-DOF parallel micromanipulator for nanoman...

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IEEE International Nanoelectronics Conference (INEC)

作者： Lefeng Wang Weibin Rong Mao Feng Taochou Liu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424435432;9781424435449

Nanomanipulation is a key enabling technology for many nanometer scale applications. To realize the full 6-DOF nanomanipulation, parallel micromanipulators have manys advantages comparing to the serial ones. Due to the machining and assembly errors, kinematic calibration is necessary to improve the accuracy further. For the 3-limb 6-dof manipulator in this paper, the error model of it was first developed based on the inverse solutions. The scheme for detecting the positions and poses of the end-effector was also determined. The least square method was used to identify the main parameters of the parallel manipulator, and the identified dimensions were used to control the manipulator. The experiments results verify the effectiveness of the calibration processes.

关键词： Calibration Micromanipulators Equations Capacitance Capacitive sensors Machining Assembly Kinematics Least squares methods Displacement measurement

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Dynamics and a convenient control design approach for a unicycle robot

Dynamics and a convenient control design approach for a unic...

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International Conference on Information and Automation (ICIA)

作者： Jie Zhao Mei Xiong Hongzhe Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424457014

In this paper, the dynamics model and a convenient lateral posture stabilization and longitudinal motion control algorithm of a unicycle robot are presented. The unicycle robot consists of a turntable for lateral posture balance, a cylindrical robot body, and a rolling wheel for longitudinal motion control. The dynamics of the unicycle system is derived using the Lagrangian formulation. In the conventional linearized model, important motion characteristics of the unicycle robot system are ignored, which makes against the control performance. To address this problem, a gain scheduling control method is proposed based on the nonlinear model and implemented by coordination of the separated lateral posture balance control and longitudinal motion control. Through simulation studies, the effectiveness of the proposed control algorithm is verified.

关键词： Control design Robot kinematics Motion control Mobile robots Nonlinear dynamical systems Orbital robotics Nonlinear equations robotics and automation Wheels state-space methods

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Bond graph model of permanent magnet linear synchronous motor

Bond graph model of permanent magnet linear synchronous moto...

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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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