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International Conference on Mechanical Engineering, Automation and Control systems

作者： Congying Sui Yanjie Liu Haijun Han State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China 1State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467381154

Vision-based micromanipulation robots are now widely used in the field of industry, military, biology, etc. for their minimized size, low energy consumption and reliable performance. This paper presents a cylinder's axis extraction method for the foam column assembly system through image processing and feature recognition. A novel image Jacobian matrix estimation method based on Broyden update for uncalibrated visual servo system is proposed to adjust the posture of the foam column online, then its simulation model is established and tested by typical signals and the results demonstrate the effectiveness of the method.

关键词： Image feature recognition on-line posture adjustment Image Jacobian matrix Broyden update

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An under-actuated manipulation controller based on Workspace Analysis and Gaussian Processes

An under-actuated manipulation controller based on Workspace...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Fan Zhang Yanyu Su Xiang Zhang Wei Dong Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology China

The kinematic modelling has been applied to many controllers of under-actuated manipulators. Most of these studies assume that the control process is conducted within the workspace. However, as such a kinematic model cannot describe the situations when the stable grasping is violated in the real environment, these controllers may fail unexpectedly. In this paper, we propose a combination of kinematics based Workspace Analysis (WA) and Gaussian Process Classification (GPC) to model the success rates of control actions in the theoretical workspace. We also use the Gaussian Process Regression (GPR) to model the residual between the prediction of the WA and the ground truth data. We then apply this integrated model, Gaussian Processes enhanced Workspace Analysis (GP-WA), into an optimal controller. The optimal controller is implemented on a planar under-actuated gripper with two three-phalanx fingers. Two sets of simulation experiments are carried out to validate our method. The results demonstrate that the optimal manipulation controller based on GP-WA achieves high control accuracy for manipulating a wide range of objects.

关键词： Kinematics Actuators Gaussian processes Analytical models Ground penetrating radar Tendons Force

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Modeling and vibration decoupling control of multi-axial shaking table

Modeling and vibration decoupling control of multi-axial sha...

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2015 International Industrial Informatics and Computer Engineering Conference(IIICEC 2015)

作者： Zhang Lianpeng Yang Zhidong Qu Zhiyong Han Junwei National State Key Laboratory of Robotics and System Harbin Institute of Technology

Traditional control strategy study of the multi-axial electro-hydraulic shaking table(MAEHST) is based on linear model,ignoring the coupling and nonlinearity factors,which results in the waveform distortion and the control *** overcome these limitations,a model considering the hydraulic system nonlinearity and mechanical coupling using the software Simulink/Sim Mechanics is built.A vibration decoupling control strategy based on multiple input multiple output(MIMO) system identification is proposed to improve the waveform replication *** proposed control method applies the MIMO H1 estimator to identify frequency response function matrix(FRFM) of the system,not only considering the diagonal element,but the off-diagonal element to acquire the coupling characteristics of six degrees of freedom(DOFs) of *** then the inverse frequency response function matrix(IFRFM) is calculated using the singular value decomposition technique to obtain the drive signal combined with the reference *** experiments are carried out,and the results indicate that the MIMO vibration decoupling control strategy successfully minimizes the coupling and improve the waveform replication precision of the shaking table.

关键词： electro-hydraulic shake table waveform replication decoupling control frequency response function matrix singular value decomposition

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Research on Establishment and Validation of Cutting Force Prediction Model for Bone Milling

Research on Establishment and Validation of Cutting Force Pr...

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IEEE International Conference on robotics and Biomimetics

作者： Dongmei Wu Longzhi Zhang Sen Liu State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781467396769

Bone cutting process is an essential and crucial step during orthopedic surgery, a slight error could injure spinal cord and nerve root, causing limb dysfunction. Cutting surface quality direct affect whether artificial prosthesis is fit for the bone, also, injury during cutting will restrict postoperative rehabilitation greatly. Cutting force changes causes cutting surface cracks, affect artificial joints stability and postoperative rehabilitation. Therefore, to predict and control cutting force in bone milling, we utilize the least squares multiple regression algorithm to construct a prediction model for cutting force, experiments prove that model can be effectively applied to predict and control cutting force.

关键词： essential during orthopedic cutting force

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An optimization method for metamorphic mechanisms based on multidisciplinary design optimization

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Chinese Journal of Aeronautics 2014年第6期27卷 1612-1618页

作者： Zhang Wuxiang Wu Teng Ding Xilun State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Robotics Beihang University

The optimization of metamorphic mechanisms is different from that of the conventional mechanisms for its characteristics of multi-configuration. There exist complex coupled design variables and constraints in its multiple different configuration optimization models. To achieve the compatible optimized results of these coupled design variables, an optimization method for metamorphic mechanisms is developed in the paper based on the principle of multidisciplinary design optimization（MDO）. Firstly, the optimization characteristics of the metamorphic mechanism are summarized distinctly by proposing the classification of design variables and constraints as well as coupling interactions among its different configuration optimization models. Further, collaborative optimization technique which is used in MDO is adopted for achieving the overall optimization performance. The whole optimization process is then proposed by constructing a two-level hierarchical scheme with global optimizer and configuration optimizer loops. The method is demonstrated by optimizing a planar five-bar metamorphic mechanism which has two configurations,and results show that it can achieve coordinated optimization results for the same parameters in different configuration optimization models.

关键词： Configuration Mechanism Metamorphic mechanisms Method Multidisciplinary design optimization Optimization model

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A fusion-based localization method of mobile robot with equality geometric constraint

A fusion-based localization method of mobile robot with equa...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Zhongli Wang Xian Wu Baigen Cai Chuanqi Tao Zhiyi Zhang Yinling Wang State Key Laboratory of Robotics and System Harbin Institute of Technology China Beijing Engineering Research Center of EMC and GNSS Technology for Rail Transportation Beijing China School of Electronic Information and Engineering Beijing Jiao Tong University China CSR Qindao Sifang Co. Ltd. Qindao China

ISBN: (纸本)9781467389600

GPS/ODO fusion-based localization is always used for mobile robot in outdoor environment. This approach takes advantage of short-term accuracy of odometry measurement and the long-term correction by the GPS unit. Generally, to improve the localization accuracy, precise system model and sensor noise model are probed. In this paper, by taking the linear and nonlinear equality state constraints into the EKF-based fusion framework with the method of perfect measurement and estimate projection, the performance of fusion results can be greatly improved. The modeling process is introduced and two simulation cases have been conducted, which show the positioning accuracy of the mobile robot can be significantly improved after the introduction of the equivalent constraint. Theoretically, this implementation allows us to define additional adjustments to improve the overall behavior of the filter.

关键词： Robot sensing systems Mobile robots Mathematical model Global Positioning system Jacobian matrices Kalman filters

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Gesture recognition based on sparse representation

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International Journal of Wireless and Mobile Computing 2016年第4期11卷 348-356页

作者： Miao, Wei Li, Gongfa Sun, Ying Jiang, Guozhang Kong, Jianyi Liu, Honghai College of Machinery and Automation Wuhan University of Science and Technology Wuhan430081 China State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Intelligent Systems and Biomedical Robotics Group School of Computing University of Portsmouth PortsmouthPO1 3HE United Kingdom

Aiming at the problem that the robustness of gesture recognition is difficult to guarantee, this paper presents a method based on multi-features and sparse representation. Hu invariant moments and HOG features of training samples are extracted in training phase. The K-SVD algorithm is used to train the initial value of dictionary formed by two features so as to obtain two sub-dictionaries. In recognition phase, sparse coefficients of corresponding training dictionary are derived by solving minimum l1-norm. Finally, the overall reconstruction error is calculated to judge the categories of test samples. In experimental simulation, five kinds of grasp gesture are collected to create gesture sample library. After selecting optimal HOG parameters and the weight of two features, the recognition effect of the method is analysed. Compared with the commonly used classification, the results show that the method has better recognition rate and robustness. Copyright © 2016 Inderscience Enterprises Ltd.

关键词： Gesture recognition

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A Novel Cross-coupled Synchronizing Control Method of Industrial Robot for Trajectory Tracking

A Novel Cross-coupled Synchronizing Control Method of Indust...

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International Conference on Mechanical Engineering, Automation and Control systems

作者： Lidong Yang Yanjie Liu Haijun Han State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467381154

Improving the tracking accuracy of industrial robot is an important task for many motion control applications. This paper proposes a novel trajectory tracking method for serial industrial robot based on cross-coupled synchronizing control. Instead of improving the tracking accuracy for individual axes, we present a variable-weight position synchronous error, which can reduce the influence of dynamic nonlinearity through adjusting the error of each axis according to robot's inertia distribution. Then a proportional and derivative (PD)-type synchronizing controller with cross-coupled structure is proposed and proven to guarantee asymptotic convergence to zero of both position and synchronization errors. Simulations conducted on a three-axis industrial robot demonstrate the effectiveness of the method.

关键词： cross-coupled control synchronous error serial industrial robot trajectory tracking

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HIT prosthetic hand based on tendon-driven mechanism

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Journal of Central South University 2014年第5期21卷 1778-1791页

作者：刘伊威丰飞高一夫 State Key Laboratory of Robotics and System Harbin Institute of Technology

An underactuated finger structure actuated by tendon-driven system is *** and static analysis of the finger is done,and the results indicate that the prosthetic finger structure is effective and *** on the design of finger,a prosthetic hand is *** hand is composed of 5 independent fingers and it looks more like *** size is about 85% of an adult's hand and weights about 350 *** the thumb finger,each finger is actuated by one DC motor,gear head and a tendon,and has three curling/extension *** thumb finger which is different from other existing prostheses is a novel design *** thumb finger has four joints including three curling/extension joints and a joint which is used to realize the motion of the thumb related to the palm,and these joints are also driven by one DC motor,harmonic drive and a *** underactuation and adaptive curling/extension motion of the finger are realized by joint torsion springs.A high-powered chip of digital signal processing(DSP)is the main part of the electrical system which is used for the motors control,data collection,communication with external controlling source,and so *** improve the reliability of the hand,structures and sensors are designed and made as simply as *** hand has strong manipulation capabilities that have been verified by finger motion and grasping tests and it can satisfy the daily operational needs and psychological needs of deformities.

关键词： prosthetic hand tendon-driven mechanism underactuation kinematics and static analysis

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A crossbeam linear ultrasonic motor using bending vibrations

A crossbeam linear ultrasonic motor using bending vibrations

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IEEE International Symposium on Applications of Ferroelectrics (ISAF)

作者： Dongmei Xu Yingxiang Liu Junkao Liu Weishan Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479999750

A crossbeam linear ultrasonic motor with length of 38 mm and diameter of 11 mm is proposed in this paper. Eight pieces of PZT ceramic plates with size of 10mm×3mm×1mm are glued to metal base to form stator. PZT ceramic plates are divided into two groups and excited by sine and cosine voltages respectively. The proposed motor generates elliptical movements at two driving feet by superimposing of two first bending vibration modes. The two first bending vibration modes have same resonance frequency as the symmetrical structure of the stator, which avoids modal degeneration. Working principle of the motor is introduced, and vibration modal and transient analyses by finite element method are developed in this paper. Sine and cosine voltages with effective value of 100 V at frequencies of 35.596 kHz are applied to the stator model. Transient analysis results show that motion trajectories of particles on driving feet are three-dimensional ellipse. The particles' maximum displacements in OX, OY and OZ directions are about 3.0 μm, 3.0 μm and 0.5 μm, respectively. Amplitude of OZ direction is about 16.7% of OX and OY directions, which demonstrates that elliptical motion in the XOY plane is fit to drive the rotor.

关键词： Acoustics Vibrations Trajectory Stators Resonant frequency Finite element analysis Actuators

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