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IEEE International Conference on Mechatronics and Automation

作者： Dongyu Liu Hong Liu Yu He Bainan Zhang Yechao Liu Zhiqi Li Chao Luo China Academy of Space Technology Institute of Manned Spacecraft System Engineering Beijing China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

In order to verify the flexible joint friction model with harmonic drive, the method of on orbit identification and the effect of joint friction on joint control, Chinese Space laboratory Tiangong - 2 equipped with a Space Manipulator and Dexterous Hand system (SMDHS). Manipulator joint friction identification experiment was carried out on orbit. In this paper, a flexible joint model of manipulator is established. By using the experimental data obtained on orbit, the friction model of viscous friction plus coulomb friction, the cubic polynomial friction model and the Stribeck friction model are compared and analyzed. At the same time, the effect of gravity difference on joint friction is also analyzed. The on orbit experiment prove that the quasi-linear model of viscous friction plus coulomb friction can be used to predict the friction of unrecognized velocity range, the accuracy of joint position control can also tolerate the error of this quasi-linear friction model in engineering applications. The flexible joint model and on orbit identification method established in this paper are helpful to develop the follow up large scale space manipulator and recognize the joint friction characteristics more clearly in the orbital application, so as to further improve the fine operating performance of the manipulator.

关键词： Friction Manipulators Orbits Fitting Torque AC motors Permanent magnet motors

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Human-Machine Interaction Control system of a Remote Maintenance Manipulator for Tokamak*

Human-Machine Interaction Control System of a Remote Mainten...

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Chinese Automation Congress (CAC)

作者： Iian Li Yixiang Liu Xizhe Zang First Research Institute of the Ministry of Public Security of PRC Beijing China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents the development of human-machine interaction control system of a remote maintenance manipulator for tokamak utilizing virtual reality. The human-machine interaction control system aims to achieve three major functions as virtual simulation, human-machine interaction, and collision detection. The graphical user interface of the control system is developed with the aid of the software Unity3D. In order to simplify system operations and improve user experience, 3D mouse and somatosensory controllers are adopted to realize scene exploration in the virtual environment and master-slave interaction control of the manipulators. A typical maintenance task is simulated using the human-machine interaction control system. The results indicate that the developed control system can help improve the safety and efficiency of remote maintenance operations significantly.

关键词： Manipulators Maintenance engineering Man-machine systems Control systems Solid modeling Cameras Tokamak devices

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Design and Experiments of a Compliant Adaptive Grasper Based on Fish Fin Structure

Design and Experiments of a Compliant Adaptive Grasper Based...

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IEEE International Conference on robotics and Biomimetics

作者： Wenfu Xu Heng Zhang Ningjing Zheng Han Yuan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China

ISBN: (纸本)9781728103785;9781728103778

Most existing graspers are composed of rigid structures and usually have poor adaptability in capturing objects with irregular shapes. To solve this problem, a compliant two-finger grasper based on bionic fins is proposed, which has extremely simple control but very strong adaptability. In this paper, structure design is firstly detailed, and then contact forces and structure deformations are analyzed by finite element method. Moreover, preliminary tests are made to validate the design. Pressure sensors are used to obtain the capture forces during the whole capturing process. Results show that the proposed compliant grasper could achieve reliable capture for different objects with various shapes and sizes.

关键词： Grasping Strain Force Pressure sensors Resistance Thumb

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Type Synthesis of Fully-Decoupled 3R2T Parallel Mechanisms Based on Driven-Chain Principle

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Journal of Donghua University(English Edition) 2017年第3期34卷 415-423页

作者：周辉陈海秦友蕾葛姝翌曹毅 School of Mechanical Engineering Jiangnan University Wuxi 214122 China Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology Wuxi 214122 China State Key Laboratory of Robotics and System Harbin 150080 China State Key Laboratory of Mechanical System and Vibration Shanghai 200240 China

To avoid the existence of nonlinear and strong coupling in parallel mechanisms,it is necessary to address special care to the type synthesis of mechanisms,especially for the type synthesis of fully-decoupled parallel mechanisms. Based on the screw theory and the driven-chain principle,a methodology of structural synthesis for fully-decoupled three-rotational( 3R) and two-translational( 2T)parallel mechanisms was proposed by analyzing the characteristics of the input-output relations for fully-decoupled parallel ***,according to the desired kinematic characteristics of fullydecoupled parallel mechanisms,a method was presented by virtue of screw theory to synthesize the desired forms for both the direct and the inverse Jacobian matrices. Secondly,according to the feature of the direct and the inverse Jacobian matrices,the effective screws,the actuated screws and the mobile un-actuated screws of each leg were established based on the reciprocal screw theory and all possible topology structures fulfilling the requirements were ***,the desired fully-decoupled parallel mechanisms could be synthesized by using the structural synthesis rule and structural synthesis of fully-decoupled 3R2 T parallel mechanisms could be obtained exploiting the abovementioned methodology. Furthermore,the Jacobian matrix of a synthesized 3R2 T parallel mechanism was deduced to demonstrate the decoupling feature of the parallel mechanism,which also validated the correctness of the methodology of the type synthesis for fully-decoupled 3R2 T parallel mechanisms.

关键词： desired kinematic decoupling inverse translational matrices topology Jacobian reciprocal rotation

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Using permanent magnetic array device to detumble and despin defunct spacecraft

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IOP Conference Series: Materials Science and Engineering 2019年第3期631卷

作者： Zongwu Xie Pixu Gong Mengde Liang Qi Zhang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 P. R. China

For the mission of detumbling and despinning the space debris, like defunct satellites, it is highly reliable and safe to use the permanent magnetic array device (PMAD). Based on the electromagnetic principle, the target's attitude dynamics is analysed, the electromagnetic torque is studied, the formula of electromagnetic force is simplified, and the stability of the nutation Angle is obtained. The rotation speed and attitude of PMAD are controlled by a dual-manipulator space robot to ensure that the component of the torque on the spin axis is zero. So the target will be only affected by the transverse component of the torque, and then the nutation angle decreases gradually to zero. When mission completed, the dual-manipulator space robot can deorbit or maintain on-orbit servicing, which is a significant exploration.

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Multi-state autonomous drilling for lunar exploration

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Chinese Journal of Aeronautics 2016年第5期29卷 1397-1404页

作者： Chen Chongbin Quan Qiquan Shi Xiaomeng Deng Zongquan Tang Dewei Jiang Shengyuan State Key Laboratory of Robotics and System Harbin Institute of Technology

Due to the lack of information of subsurface lunar regolith stratification which varies along depth, the drilling device may encounter lunar soil and lunar rock randomly in the drilling process. To meet the load safety requirements of unmanned sampling mission under limited orbital resources, the control strategy of autonomous drilling should adapt to the indeterminable lunar environments. Based on the analysis of two types of typical drilling media （i.e., lunar soil and lunar rock）, this paper proposes a multi-state control strategy for autonomous lunar drilling. To represent the working circumstances in the lunar subsurface and reduce the complexity of the control algo- rithm, lunar drilling process was categorized into three drilling states： the interface detection, initi- ation of drilling parameters for recognition and drilling medium recognition. Support vector machine （SVM） and continuous wavelet transform were employed for the online recognition of drilling media and interface, respectively. Finite state machine was utilized to control the transition among different drilling states. To verify the effectiveness of the multi-state control strategy, drilling experiments were implemented with multi-layered drilling media constructed by lunar soil simulant and lunar rock simulant. The results reveal that the multi-state control method is capable of detecting drilling state variation and adjusting drilling parameters timely under vibration interferences. The multi-state control method provides a feasible reference for the control of extraterrestrial autonomous drilling.

关键词： Finite state machine Recognition algorithm Simulants Support vector machine Wavelet transform

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Preoperative planning for the multi-arm surgical robot using PSO-GP-based performance optimization

Preoperative planning for the multi-arm surgical robot using...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Zhang, Fan Yan, Zhiyuan Du, Zhijiang Personal Robotics Lab Department of Electrical and Electronic Engineering Imperial College London United Kingdom State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781509046331

For the robotically-assisted minimally invasive surgery, preoperative planning is essential towards assisting surgeons to prepare the intervention and to decide the best access to the surgical site. Many recent studies in preoperative planning have focused on the pose selection of the robot and the port placement. However, as such techniques cannot evaluate the performance of the multi-arm cooperation, their applications are constrained in real practise with multi-arm surgical robots. In this paper, the surgical workspace is divided and the subspaces are assigned with different weights to reflect the internal differences within the surgical workspace. We propose three metrics to evaluate the performance of the multi-arm surgical robot: Global Isotropy Index (GII) to measure the dexterity of one single robot arm;Cooperation Capability Index (CCI) to reflect the performance of the multi-arm cooperation;Minimum Distance Index (MDI) to describe the collision avoidance of the robotic arms. We also propose a combination of Particle Swarm Optimization (PSO) and Gaussian Process (GP) to locate the port placement and robot positioning. The proposed integrated PSO-GP-based optimization strategy is implemented on a three-arm surgical robot. Two sets of experiments are carried out to validate our method. The results demonstrate that the performance optimization strategy based on PSO-GP is capable of guiding surgeons to plan an intervention with the multi-arm surgical robot. © 2017 IEEE.

关键词： Robotic surgery

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Feature-Based and Convolutional Neural Network Fusion Method for Visual Relocalization

Feature-Based and Convolutional Neural Network Fusion Method...

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International Conference on Control, Automation, robotics and Vision

作者： Li Wang Ruifeng Li Jingwen Sun Hock Soon Seah Chee Kwang Quah Lijun Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Nanyang Technological University Singapore ST Electronics (Training & Simulation Systems) Pte Ltd Singapore

Relocalization is one of the necessary modules for mobile robots in long-term autonomous movement in an environment. Currently, visual relocalization algorithms mainly include feature-based methods and CNN-based (Convolutional Neural Network) methods. Feature-based methods can achieve high localization accuracy in feature-rich scenes, but the error is quite large or it even fails in cases with motion blur, texture-less scene and changing view angle. CNN-based methods usually have better robustness but poor localization accuracy. For this reason, a visual relocalization algorithm that combines the advantages of the two methods is proposed in this paper. The BoVW (Bag of Visual Words) model is used to search for the most similar image in the training dataset. PnP (Perspective n Points) and RANSAC (Random Sample Consensus) are employed to estimate an initial pose. Then the number of inliers is utilized as a criterion whether the feature-based method or the CNN-based method is to be leveraged. Compared with a previous CNN-based method, PoseNet, the average position error is reduced by 45.6% and the average orientation error is reduced by 67.4% on Microsoft's 7-Scenes datasets, which verifies the effectiveness of the proposed algorithm.

关键词： Visualization Feature extraction Training Cameras Vocabulary Image retrieval Robots

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Efficient Inverse Kinematics for Redundant Manipulators with Collision Avoidance in Dynamic Scenes

Efficient Inverse Kinematics for Redundant Manipulators with...

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IEEE International Conference on robotics and Biomimetics

作者： Liangliang Zhao Jingdong Zhao Hong Liu Dinesh Manocha Department of Computer Science and Electrical & Computer Engineering University of Maryland at College Park MD USA State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728103785;9781728103778

We present a novel iterative algorithm for inverse kinematics of redundant manipulators in dynamic environments. Our approach uses an iterative approach to generate valid configurations and selects an inverse kinematics solution using a rank-based selection strategy. To avoid the moving obstacles, we combine our inverse kinematics method with a collision avoidance scheme. We highlight the performance of our algorithm on different high DOF manipulators in a dynamic scene.

关键词： Kinematics Manipulator dynamics Collision avoidance Iterative methods End effectors Trajectory

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Profile Detection and Surface Fitting Based on The key Optical Components of The Seeker

Profile Detection and Surface Fitting Based on The Key Optic...

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IEEE International Conference on Mechatronics and Automation

作者： Si Wu Xianming Li Weibin Rong Jun Zhou Xue Tian Zhun Deng Zhong Sheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China Beijing Institute of Remote Sensing Equipment China Aerospace Science & Industry Corp Beijing China

This paper proposes a new method for measuring thickness data of surface compensation gasket and an algorithm for ellipse fitting and multiple ellipse fitting. First of all, the laser ranging sensor is used to scan the surface to obtain the data types of different specifications and to analyze the advantages and disadvantages of the data types. Secondly, the least square method is used to fit the data and analyze algorithm error. Finally, a new multi-ellipse fitting algorithm is proposed for determining the position of the fastening hole. It will facilitate the application of force sensors.

关键词： Laser distance measuring sensor Optical component assembly Surface detection Ellipse fitting

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