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A Direct Swing Constraint-based Trajectory Planning Method for Underactuated Overhead Cranes

自动化学报 2014年第11期40卷 2414-2419页

作者： WANG Peng-Cheng FANG Yong-Chun JIANG Zi-Ya Institute of Robotics and Automatic Information System (IRAIS) Nankai University Tianjin 300071 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300071 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016. China

This paper proposes a novel swing constraint-based trajectory planning method for nonlinear overhead crane systems. To enhance the efficiency and security of the transportation process, some desired trajectories are designed to achieve the following merits: 1) leading the trolley to reach the destination sufficiently fast; 2) keeping the payload swing in an acceptable domain; 3) eliminating the residue swing when the trolley stops at the desired position. Specifically, the trajectories are divided into three stages. For each stage, the desired curve of the swing angle is directly constructed in accordance with anti-swing and zero-residual swing requirements, based on which the trolley trajectory is then obtained by analyzing the nonlinear kinematics of the crane system. An optimization mechanism is introduced to make intelligent compromises among the indices of transportation time, maximal swing angle, and so on. Both simulation and experimental results are provided to demonstrate the performance of the proposed direct swing constraint-based trajectory planning method.

关键词：桥式起重机基于约束 Swing 欠驱动规划法非线性运动学载荷摆动轨迹规划

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Study on the fuzzy sliding mode control of the quadruped robot's hydraulic driving unit

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ICIC Express Letters 2014年第9期8卷 2373-2382页

作者： Quan, Lingxiao Kong, Xiangdong Xu, Yancui Yu, Bin Li, Mantian School of Mechanical Engineering Yanshan University No. 438 Hebei Ave. Qinhuangdao 066004 China State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 West Da-Zhi Street Harbin 150001 China

The hydraulic Quadruped Robot (BigDog) always uses the hydraulic drive unit to control the motions of every joint. The symmetric servo-valve of high performance controls the symmetric servo cylinder in the hydraulic drive unit. This kind of drive mode has the advantages of large power volume ratio, fast response, etc. Because of its obvious nonlinearity and unknown parameters, the control effect is not good. According to the disadvantages of hydraulic drive unit, this paper firstly proposes a Sliding Mode Control strategy based on the Exponential Approach Law to improve the robustness of hydraulic drive unit position control. However, the existence of chattering of this strategy can lead to lower control precision and stimulate high frequency dynamic characteristic of the system, so as to damage the system performance. To restrain chattering effect on the performance of the system effectively, a fuzzy controller is used to adjust the Exponential Approach Law parameter to optimize control results. The research results show that the Fuzzy Sliding Mode Control can guarantee good robustness and dynamic performance of the system, and it can largely reduce chattering of system and improve the system steady-state accuracy. © 2014 ISSN 1881-803X.

关键词： Position control

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Real-time filtering method based on neuron filtering mechanism and its application on robot speed signals

Real-time filtering method based on neuron filtering mechani...

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3rd International Conference on Computer Engineering and Network, CENet 2013

作者： Gao, Wa Zha, Fusheng Song, Baoyu Li, Mantian Wang, Pengfei Jiang, Zhenyu Guo, Wei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150006 China Department of Mechanical Design Harbin Institute of Technology Harbin 150006 China

ISBN: (纸本)9783319017655

In order to implement the real-time filtering and tracking of robot signals with high efficiency, a novel real-time filtering method based on neuron filtering mechanism is developed in this paper. By considering the ubiquity of resonance in mammal and combining the mechanism of neural information processing, the derived details and the feasible parameter criterion under minimum error variance condition are given. For illustration, the application on quadruped robot is discussed. The quadruped robot feet speed signals are processed by developed real-time filtering method and Kalman filtering algorithm, respectively, and the computation time of both methods is tested. Experiment results show that the performance of developed real-time filtering method is better than that of Kalman filtering algorithm, not only in filtering and tracking performance but also in filtering speed. The novel real-time filtering method based on neuron filtering mechanism can effectively implement the real-time filtering and tracking with regard to robot signals. © 2014 Springer International Publishing Switzerland.

关键词： Neurons

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Analysis and experiments of the arc heating for fiber fused biconical taper technology

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Zhongguo Jiguang/Chinese Journal of Lasers 2015年第3期42卷 0305003-1-0305003-1-0305003-8页

作者： Zhang, Wei Rong, Weibin Yang, Wei Wang, Lefeng Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinHeilongjiang150080 China School of Electrical Engineering and Automation Harbin Institute of Technology HarbinHeilongjiang150001 China

The heating temperature is one of the key factors in the fiber fused biconical taper manufacture, which can affect the component performance. In order to improve the temperature stability and controllability in the heating region, the high-voltage arc heating device is presented and arc heating, heating region temperature and fiber preheating are studied. The high-frequency high voltage power source, in which the current and frequency can be adjusted independently, and electrodes are designed. The closed-loop controls of the voltage and current are applied to ensure the success of the arc ignition and the stability of the arc discharge current, and the discharge process is analyzed. The temperature detection device in which the infrared camera is adopted to measure the heating region temperature by the ceramic rod is designed. Through the analysis of experimental data, the relationships among the frequency, arc control voltage, arc current, heating distance and arc region temperature are determined. According to experiments and computation results, the temperature of the arc center region can reach 1635℃ within the stability of 2.37℃. Based on the established heating model for fine fibers with the diameter of 80 μm, the preheating time is computed by the transient analysis of the ANSYS software. It is shown that the temperature of the heating region can reach the stability by 25 s. ©, 2015, Science Press. All right reserved.

关键词： Temperature measurement

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An Elbow Biomechanical Model and Its Coefficients Adjustment

An Elbow Biomechanical Model and Its Coefficients Adjustment

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2014 IEEE 5th International Conference on Software Engineering and Service Science

作者： Jie Bai Yongsheng Gao Shengxin Wang Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology

Through the establishment of the elbow biomechanical model,it can provide theoretical guide for rehabilitation therapy on the upper limb of the human body.A biomechanical model of the elbow joint can be built by the connection of muscle force model and elbow *** there are many undetermined coefficients in the model like the optimal joint angle and optimal muscle force which are usually specified as the experimental parameters of other *** of the individual differences,there is a certain deviation of the final *** this end,the RMS value of the deviation between the actual angle and calculated angle is considered.A set of coefficients which lead to the minimum RMS value will be chosen to be the optimal *** direct search method and the conjugacy search method are used to get the optimal parameters,thus the model can be more accurate and mode adaptability.

关键词： elbow biomechanical model RMS direct search conjugacy search

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STUDY ON THE OUTPUT PERFORMANCES OF A T-SHAPE PIEZOELECTRCI MOTOR UNDER DC AND IMPULSE VOLTAGE EXCITATIONS

STUDY ON THE OUTPUT PERFORMANCES OF A T-SHAPE PIEZOELECTRCI ...

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2014年全国压电和声波理论及器件应用研讨会

作者： Ying-xiang LIU Wei-shan CHEN Xiao-hui YANG Jun-kao LIU State Key Laboratory of Robotics and System Harbin Institute of Technology

＜正＞Background,Motivation and Objective Piezoelectric motors have been seen as successor of the electromagnetic ones in areas such as robot joints,high precision machines,micro robots,and *** exhibit merits of simpl... 详细信息

关键词： Piezoelectric motor T-shape Longitudinal vibration Nanometer positioning

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A Low-impact Deployment Hinge Based on a Novel Intermittent Mechanism

A Low-impact Deployment Hinge Based on a Novel Intermittent ...

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2014 2nd Asian Pacific Conference on Mechatronics and Control Engineering(APCMCE 2014)

作者： Hongwei Guo Zhongjie Li Zongquan Deng Chuang Shi Rongqiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology

A novel intermittent mechanism and low-impact deployment hinge based on intermittent mechanism are presented in this paper. This application is contemplated to lower the impact dramatically at the end of hinge deployment. The overall deployment process is described and the maximum impact force and angular velocity are derived. The effect of the intermittent motion mechanism on free spring deployable hinges is evaluated by indexes of maximum angular velocity and impact force. Cases are simulated to verify the mechanism design, and results show that the maximum angular velocity and impact force can be decreased by more than 90%.

关键词： Low-impact Hinge Mechanism Intermittent mechanism Impact Simulation

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Design and evaluation of a parallel-series elastic actuator for lower limb exoskeletons

Design and evaluation of a parallel-series elastic actuator ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yanhe Zhu Jixing Yang Hongzhe Jin Xizhe Zang Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology

This paper presented a novel compliant actuator used for lower limb exoskeletons. The compliant joint consists of a series elastic actuator (SEA) and parallel elastic (PE) unit. SEA has various advantages as the actuator of assistive exoskeletons, such as low output impedance, impact absorption, precise force control and high stability. We designed and fabricated a novel SEA as the primary joint actuator which is compact, adjustable and low-cost. Meanwhile an additional elastic unit is installed in parallel with the SEA to improve energy utilization by storing and releasing energy during motion cycles. An adaptive stable controller is designed to realize the joint following motion to a virtual limb. The algorithm can identify and compensate the undetermined contact stiffness between the joint output and the virtual limb. Finally, the performance of the actuator is evaluated through motion tracking and energy-conservation experiments. Preliminary results indicate the validity of the design and imply its potential usage in lower limb exoskeletons.

关键词： Joints Exoskeletons Springs Actuators Force Torque Brushless motors

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On-line Identification of Line Segments using Hypothesis Testing for Robot Mapping

On-line Identification of Line Segments using Hypothesis Tes...

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2014 2nd International Conference on Manufacturing Engineering and Technology for Manufacturing Growth(METMG 2014)

作者： Guanglei Huo Lijun Zhao Ruifeng Li Ke Wang Mingrui Lv State key laboratory of robotics and system Harbin Institute of Technology

A novel features identification method is proposed for mobile robot indoor environment perception. In this paper, firstly, multi-dimensional data space is building based on laser scanner data, in which corner point is located by hypothesis testing theory. Secondly, line segments are obtained and localized by fitting method, which are previously estimated using probability model. At last, experiments verify the efficiency of proposed algorithm in indoor environment.

关键词： Segment features Hypothesis testing Robot localization Mapping

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A ROS/Gazebo Based Method in Developing Virtual Training Scene for Upper Limb Rehabilitation

A ROS/Gazebo Based Method in Developing Virtual Training Sce...

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2014 IEEE International Conference on Progress in Informatics and Computing

作者： Zhijiang Du Yixuan Sun Yanyu Su Wei Dong State Key Laboratory of Robotics and System Harbin Institute of Technology

Virtual Reality(VR) presents a promising future in the field of rehabilitation due toits advantages brought tothe training process as is indicated in many articles and researches. In this paper, we describe a novel method in developing a virtual training environment for a 5 degrees of freedom(DOF) upper limb rehabilitation robot which has been designed tohelp provide assistance for patients whosurvive stroke but remain hemiplegic tocomplete rehabilitation exercise. The method involved utilizes ROS(Robot Operating system) and Gazebo(a multi-robot simulator) toset up an interesting virtual scene of daily life in a 3D world tofacilitate the patients tomove their affected arms with synchronous visual feedback and interact with the virtual training task. The control method of human model in the virtual world and the communication mechanism between the host machine which controls movement of the real robot and the master machine which runs the VR will be introduced. Finally, a virtual training environment containing reaching task setin a modern kitchen is presented.

关键词： virtual reality(VR) ROS/Gazebo upper limb rehabilitation robot

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