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Inverse kinematics algorithm for space robots using the virtual manipulator approach

Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2009年第4期37卷 5-8页

作者： Xia, Jinjun Jin, Minghe Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Institute of Robotics and Mechatronics German Aerospace Center DLR 82230 Wessling Germany

The equivalent model of free floating space robots was developed by using virtual manipulator (VM) approach. A new algorithm for solving the inverse kinematics of free floating space robots was proposed, which is more efficient than the accelerated implicit approximate-linear-programming method (AIALPA). The problem on avoiding dynamic singularities was substituted by an alternate problem on avoiding the kinematic singularities of the virtual manipulator. And an example was presented for verifying the validity of the proposed algorithm. The results show that the same joint motion curves are determined by both algorithms. However, the iterations of the proposed algorithm are approximately half of that of the AIALPA algorithm.

关键词： Jacobian matrices

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Camera calibration based on extended Kalman filter using robot's arm motion

Camera calibration based on extended Kalman filter using rob...

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2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009

作者： Guodong, Chen Zeyang, Xia Xie, Ming Sun, Lining Junhong, Ji Zhijiang, Du State Key Laboratory of Robotics and System Harbin Institute of Technology China Nanyang Technological University Singapore Singapore Nanyang Technological University Singapore Harbin Institute of Technology Nanyang Technological University China

ISBN: (纸本)9781424428533

This paper presents a camera calibration method that could be used in humanoid robot vision system. Extended Kalman Filter is used to estimate camera parameters. This method can take planer board feature points of the image or the object's 3D axis as inputs when doing known motion, test results show this algorithm can get good results. If the camera parameters are known, the relationship between a reference coordinate system and camera coordinate system can not get in high precision, in this paper, a method based on the arm motion is discussed. ©2009 IEEE.

关键词： Extended Kalman filters

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Fast and accurate humanoid robot navigation guided by stereovision

Fast and accurate humanoid robot navigation guided by stereo...

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2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

作者： Guodong, Chen Xie, Ming Xia, Zeyang Sun, Lining Ji, Junhong Du, Zhijiang Lei, Wang State Key Laboratory of Robotics and System Harbin Institute of Technology China Nanyang Technological University Singapore School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore Harbin Institute of Technological China

ISBN: (纸本)9781424426935

Stair-climbing and moving object grasping both require high precision information feedback of the feature coordinate. This manuscript mainly describes how to process the information acquired from the stereovision system in a fast and accurate way and how to use the data to compensate the progressive error caused by the humanoid robot. From camera calibration to image processing to stereo match, every step in the whole vision information processing process plays an important role in getting high precision. Less time consuming can make the robot adapt to the changes of environment quickly, especially in dynamic environment. In this paper, two humanoid robot common tasks are chosen as experiments to verify the effectiveness of the proposed methods. Stair climbing experiment verifies the high precision in long distances and also by using the image information to compensate the progressive error caused by long distance walking and moving object grasping experiment verifies the less time consuming. ©2009 IEEE.

关键词： Anthropomorphic robots

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An in-pipe micro robot actuated by piezoelectric bimorphs

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Chinese Science Bulletin 2009年第15期54卷 2134-2142页

作者： LIU PinKuan WEN ZhiJie SUN LiNing State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China Robotics Institute Harbin Institute of Technology Harbin 150001 China

A novel in-pipe micro robot providing stable and accurate locomotion inside a tubular structure with diameters ranging from 16 mm to 18 mm is presented in this paper. Driven by impulsive voltages, deflections of the piezoelectric bimorphs are generated and then converted into translational locomotion by the principle of the Impact Drive Mechanism (IDM). Theoretical analysis of the proposed system is performed based on a simplified mechanical model. Then dynamic simulations of the dynamic behavior are performed. Finally, an experiment is conducted to investigate the moving ability of this device. The results demonstrate that a maximum translational velocity of 3.5 mm/s can be obtained under an impulsive driving voltage with peak value at 50 V and frequency of 1100 Hz. Both theoretical analysis and experimental trials prove that the principle of IDM actuated by piezoelectric bimorphs is feasible and robust for achieving accurate locomotion of the micro robot in pipes with diameters of less than 20 mm.

关键词：管道微机器人压电双晶片驱动机构调制解调器平移运动实验测试管道直径管状结构

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Development of a Low-Cost High-Fidelity Simulator for Search and Rescue Robot

Development of a Low-Cost High-Fidelity Simulator for Search...

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WRI World Congress on Software Engineering, WCSE

作者： Zhenfeng Han Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424435661

This paper describes a simulator which is used to study the motion plan of search and rescue robot on bumpy road. The simulator, written in C++, is composed of Newton physics engine system and OGRE based 3D environment. All libraries used are free and the program can be compiled cross-platforms. Virtual sensors such as camera and motor coded disc are developed. Behavior-based programming interface are developed so it is easy to realize and test complex motion plan. This simulator is also a motion virtual guide to robot. Together with the help of data post processing system, difficult climbing task can be finished easily and rapidly in teleoperating way.

关键词： Computational modeling Robot sensing systems Engines Physics Mobile robots Costs Graphical user interfaces Testing Linux Computer simulation

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Real-time Image Processing system Based on Multi-core Processor

Real-time Image Processing System Based on Multi-core Proces...

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International Symposium on Intelligent Information Technology Application, IITA

作者： Jie Zhao Yongmin Yang Ge Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

This paper proposed a real-time image processing system based on multi-core processor, which is used in the cold rolling surface defect inspection system for enhancing system's real-time performance. Based on analyzing the application demand of inspection system image processing module, the image processing system is designed that is the combination of RT-Linux real-time operation system and multi-core processor hardware platform. Taking advantage of RT-Linux multi-task scheduling mechanism based on priority, the PCI device driver is developmented to ensure receiving and saving image data in real-time. At the same time, multi-core processor makes multi-task parallel processing to be possible. Two parallelism types are analyzed, including task-level parallelism and data-level parallelism. Finally the combination of thread-level and data-level parallelism of image segmentation based on Ostu method is implemented, verifying performance of real-time image processing system based on multi-core processor. Segmentation algorithm can efficiently utilize the multi-core processor, 3.2 times faster than a single core.

关键词： Real time systems Image processing Multicore processing Inspection Image segmentation Image analysis Process design Hardware Processor scheduling Parallel processing

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Path planning for minimizing base reaction of space robot and its ground experimental study

Path planning for minimizing base reaction of space robot an...

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IEEE International Conference on Mechatronics and Automation

作者： Jianwei Wu Shicai Shi Bin Wang Zainan Jiang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

In free-flying space robotic system, the thruster jets will compensate the disturbances induced by manipulator to keep the attitude of the robot base invariable. For saving the expensive fuel that thruster jets cost, point-to-point path planning method in joint space for minimizing base reaction is proposed in this paper. The sinusoidal and polynomial functions are used here to parameterize the joint motion. This parameterization method can satisfy the kinematical constraints. The optimal object of base reaction is computed by inverse dynamics. In order to limit the joint velocity, an objective function including the constraint of joint velocity is defined. Genetic algorithm is introduced to solve the optimized problem, and the parameters for the minimum objective function value are found. The path planned is very smooth, and it can be applied in practical. According to the experiment on the zero gravity system, the effectiveness of the algorithm is proved.

关键词： Path planning Orbital robotics Manipulator dynamics Space technology Equations Space stations Satellites robotics and automation Fuels Genetic algorithms

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Design and analysis of a double rings type ultrasonic motor using longitudinal transducers

Design and analysis of a double rings type ultrasonic motor ...

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IEEE International Conference on Mechatronics and Automation

作者： Yingxiang Liu Junkao Liu Weishan Chen Shengjun Shi State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

A double rings type ultrasonic motor using longitudinal transducers is proposed in this paper. The bending modes of rings are excited by the longitudinal vibration of transducers. Two flexural traveling waves in the two rings, which have the same direction, are excited. The working principle of proposed motor is analyzed. The ring and transducer are designed with FEM. The bending vibration modal of ring and longitudinal vibration modal of transducer are degenerated. Transient analysis is developed to gain the motion trajectories of nodes on the teeth, results indicate that two flexural traveling waves are excited in the two rings. The results of this paper could guide the development of this new type of ultrasonic motor.

关键词： Ultrasonic transducers Stators Vibrations Rotors Ceramics Teeth robotics and automation Motion analysis Couplings Testing

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Gold wire stress analysis of wire feed system in automatic wire bonder

Gold wire stress analysis of wire feed system in automatic w...

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IEEE International Conference on Mechatronics and Automation

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

The wire feed system is an important subsystem of typical automatic wire bonder. The resistance control of wire transmission and tensile force control are the key technologies of the wire feed system, which has a strong impact on the bonding quality. This paper describes the stress analysis of gold wire in the automatic wire bonder. The analysis is useful in the low friction wire feed system and the low resistance transmission. Two stress models of gold wire are developed in the air guide and vacuum tensioner. The relationships between the control parameters of air guide and vacuum tensioner and the stress on gold wire are found out. Results of the experiments of this stress analysis procedure are given to illustrate the proposed models. Emphasis is placed on the construction of the mathematical models of air guide and vacuum tensioner by which the stress of gold wire is evaluated.

关键词： Wire Gold Feeds Tensile stress Automatic control Force control Control systems Bonding forces Friction Stress control

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Optimal design of a 6-DOF parallel robot for precise manipulation

Optimal design of a 6-DOF parallel robot for precise manipul...

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IEEE International Conference on Mechatronics and Automation

作者： Lefeng Wang Weibin Rong Limin Qi Zhigang Qin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

A 3-PPTRR parallel mechanism is presented in this paper. Six high resolution ceramic motors have been used as actuators in the parallel robot for precise manipulation applications. The inverse kinematics of the robot is analysed based on the geometrical restriction, in addition the Jacobian matrix is deduced with the vector method. A global performance index is adopted to optimize the dimensions of the parallel mechanism, and the optimization flow is built in detail. The distribution of the performance index in the whole workspace after optimization is presented. The robot has been developed according to the optimal dimensions, moreover, the resolution and repeatability performances of it are measured. The results show that the robot has fine performances for precise applications.

关键词： Parallel robots Performance analysis Kinematics Jacobian matrices Biomedical engineering Mechatronics Design automation robotics and automation Laboratories Ceramics

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