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International Conference on Control, Automation and systems ( ICCAS)

作者： Yi Long Zhijiang Du Weidong Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Iterative learning control(ILC) is used to track the trajectory of repetitive motion, especially for industrial robot. The proposed control scheme is based upon the feedback of tracking error and corresponding change rate, which construct a switching surface, with the use of a proportional structure, for which it is called sliding mode-like P-type ILC. In addition, an adaptive item was added to not only cope with the unknown parameters and disturbances but also. remove chatter phenomenon happening in control process. To verify the proposed control law, a conventional PD ILC and an adaptive PD ILC are added as comparison with all the same setting conditions. We use root mean square error (RSME) each iteration trial as performance evaluation index. Finally, simulation results are provided to illustrate the effectiveness of the proposed controller. As a result, it can achieve better performance.

关键词： Robustness Robots Sun Adaptation models

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一种两自由度的压电-电磁复合能量收集器(英文)

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2014年第9期15卷 711-722页

作者： Hong-yan WANG Li-hua TANG Yuan GUO Xiao-biao SHAN Tao XIE College of Computer and Control Engineering Qiqihar University State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Mechanical Engineering University of AucklandAuckland 1010 New Zealand

研究目的:对一种两自由度的压电-电磁复合能量收集器进行发电性能研究。创新要点:建立了一种两自由度压电-电磁复合能量收集器发电性能的数学模型,该数学模型可以评估两自由度压电-电磁复合能量收集器中压电元件、电磁元件以及系统总输... 详细信息

研究目的:对一种两自由度的压电-电磁复合能量收集器进行发电性能研究。创新要点:建立了一种两自由度压电-电磁复合能量收集器发电性能的数学模型,该数学模型可以评估两自由度压电-电磁复合能量收集器中压电元件、电磁元件以及系统总输出功率。研究方法:对一种两自由度的压电-电磁复合能量收集器进行数学建模,并实验验证数学模型的正确性。基于实验测试得到的系统参数值,理论研究压电元件和电磁元件的机电耦合系数对不同能量收集器发电性能的影响关系,并对几种能量收集器的发电能力进行对比分析。重要结论:对于非强耦合(弱或中间耦合)的两自由度机电转换器,复合能量收集器(压电+电磁)具有比单一能量收集器(压电或电磁)更高的发电能力。

关键词：振动复合能量收集两自由度模型压电电磁

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ANFIS-based control strategy for a drilling and coring device in lunar exploration

ANFIS-based control strategy for a drilling and coring devic...

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International Conference on Information and Automation (ICIA)

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

The second step for lunar exploration of China has been completed already, the probe “Chang'e-3” successfully landed on the moon, including a lander and a lunar rover. The third step of the project is to achieve automated sampling of lunar regolith through a drilling and coring device. On the moon, lunar regolith and lunar rock may be encountered randomly along the longitudinal direction. Due to the indeterminable drilling environments for the sampling device, the automated control becomes very crucial in the drilling process. This paper proposed an adaptive neuro-fuzzy inference system (ANFIS) based control strategy to tackle the complex drilling media beneath lunar surface. The network is trained through typical lunar regolith simulants and lunar rock simulants, with high identification ratio. A multi-layered drilling medium is built with lunar regolith simulant and lunar rock simulant for drilling experimental test. Experiments indicate that the ANFIS based control strategy can adapt to the complex environment well.

关键词： Moon Torque Drilling machines Force Media Electron tubes Rocks

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Method for Analyzing Articulated Torques of Heavy-duty Six-legged Robot

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Chinese Journal of Mechanical Engineering 2013年第4期26卷 801-812页

作者： ZHUANG Hongchao GAO Haibo DING Liang LIU Zhen DENG Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology

The accuracy of an articulated torque analysis influences the comprehensive performances of heavy-duty multi-legged robots. Currently, the extremal estimation method and some complex methods are employed to calculate the articulated torques, which results in a large safety margin or a large number of calculations. To quickly obtain accurate articulated torques, an analysis method for the articulated torque is presented for an electrically driven heavy-duty six-legged robot. First, the rearmost leg that experiences the maximum normal contact force is confirmed when the robot transits a slope. Based on the ant-type and crab-type tripod gaits, the formulas of classical mechanics and MATLAB software are employed to theoretically analyze the relevant static torques of the joints. With the changes in the joint angles for the abductor joint, hip joint, and knee joint, variable tendency charts and extreme curves are obtained for the static articulated torques. Meanwhile, the maximum static articulated torques and the corresponding poses of the robot are also obtained. According to the poses of the robot under the maximum static articulated torques, ADAMS software is used to carry out a static simulation analysis. Based on the relevant simulation curves of the articulated torques, the maximum static articulated torques are acquired. A comparative analysis of the maximum static articulated torques shows that the theoretical calculation values are higher than the static simulation values, and the maximum error value is approximately 10%. The proposed method lays a foundation for quickly determining accurate articulated torques to develop heavy-duty six-legged robots.

关键词： heavy-duty six-legged robot articulated torque MATLAB static simulation analysis ADAMS

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Center of mass and its domain for heavy hexapod robots

Center of mass and its domain for heavy hexapod robots

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International Conference on Mechatronics and Control (ICMC)

作者： Liang Ding Yiqun Liu Haibo Gao Ma Jin Zhen Liu Nan Li Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479925391

Center of mass domain of a hexapod robot must be determined in order to analyze the mobility performance and accomplish the high-fidelity simulation. Hexapod robot is simplified as a system of particles based on the structure characteristics of the developed hydraulically actuated hexapod robot. Position vectors of all mass points are established by coordinate transformation. Center of mass position in any gesture and its domain of a hexapod robot are derived. Simulation platform is established based on Vortex. Position control functions of hydraulic cylinders are solved according to the motion planning and the geometric relationship of robot. Simulation of walking process by using the proposed mass center position is completed. Hexapod robot prototype is developed, and centroid position of the body is measured according to the force sensors installed on the foot of the robot. Correctness of theoretical analysis results is proved. Walking tests of the robot prototype are accomplished, and the results show that simulation curves and experimental curves of foot force are consistent. Rationality and feasibility of the center of mass calculation method is verified, and this method can be applied for other types of robots.

关键词： Legged locomotion Robot kinematics Force Joints Thigh Foot

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The non-cooperative satellite capturing nozzle device based on laser range finders guidance

The non-cooperative satellite capturing nozzle device based ...

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IEEE International Conference on robotics and Biomimetics

作者： Yu Zhang Kui Sun Yuanfei Zhang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

Expansion Rod Capturing Nozzle Device based on Laser Range Finders Guidance is developed to capture the non-cooperative satellite by capturing the main engine nozzle. The capturing device is integrated with capturing mechanism of expansion rod, Field-Programmable Gate Array (FPGA) controller, multi-sensors with laser range finders and Force/Torque Sensor, which utilizes the design concept of the optics, mechanism and electricity unitization. In order to capture the nozzle by the “soft” contact way, six laser range finders are radially arranged in the capturing device to sense the nozzle pose. The measuring range of laser range finder is 25-350mm, and the measuring accuracy is 2%. By the finders, capturing device can achieve the function of accurately approaching and reaching the capturing and locking location in the capturing process of extremely close to nozzle, to capture the non-cooperative satellite. The experiments are carried out capture the nozzle by the capturing device utilizing the finders real-time measurement. The experiments demonstrate the capturing device has the ability to capture and lock the satellite nozzle.

关键词： Satellites Control systems Lasers Extraterrestrial measurements Robots Brushless DC motors

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Fast laser — based corridor detection for indoor mobile robots

Fast laser — based corridor detection for indoor mobile rob...

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IEEE International Conference on robotics and Biomimetics

作者： Lijun Zhao Zhaofeng Liu Guanglei Huo Ke Wang Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

Considering stability problems of the current corridor recognition algorithm based on laser scanner, this paper proposes a method for mobile robot fast laser-based corridor recognition. Firstly, Median filter is used to deal with the laser scan to reduce the noise. Then, it employs segmentation method to cluster the data to remove some isolated points. After that, it is feasible to calculate the direction between the two neighboring points. This paper measures the angle every 10 degrees. At last, a SVM is designed and applied to recognize corridor in indoor environment.

关键词： Floors Training Mobile robots Support vector machines Laser noise Indoor environments

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Tele-assembly system for final assembly of the fusion ignition target

Tele-assembly System for final assembly of the fusion igniti...

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IEEE International Conference on robotics and Biomimetics

作者： Yu Zou Weibin Rong Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

This paper presents a novel way for final assembly of the fusion ignition target to avoid possible factitious interference during target assembly process and harm from target materials. Tele-assembly is adopted and a target tele-assembly system is developed in this paper. The system not only has local precision positioning unit and vacuum adsorption clamping unit but also has remote force and position monitoring units, augment reality unit and master manipulator. Structure of the target tele-assembly system, augment reality and master-slave method are discussed. Finally, experiments are carried out to verify the feasibility and effectiveness of the target tele-assembly system.

关键词： Assembly Ignition Accuracy Monitoring Solid modeling Master-slave Virtual reality

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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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IEEE International Conference on Progress in Informatics and Computing (PIC)

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

ISBN: (纸本)9781479920327

Virtual Reality (VR) presents a promising future in the field of rehabilitation due to its advantages brought to the 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 to help provide assistance for patients who survive stroke but remain hemiplegic to complete rehabilitation exercise. The method involved utilizes ROS (Robot Operating system) and Gazebo (a multi-robot simulator) to set up an interesting virtual scene of daily life in a 3D world to facilitate the patients to move 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 set in a modern kitchen is presented.

关键词： Joints Training Robot sensing systems Visualization Three-dimensional displays Medical treatment

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Crashworthiness Analysis on Alternative Square Honeycomb Structure under Axial Loading

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Chinese Journal of Mechanical Engineering 2013年第4期26卷 784-792页

作者： LI Meng DENG Zongquan GUO Hongwei LIU Rongqiang DING Beichen State Key Laboratory of Robotics and System Harbin Institute of Technology

Hexagonal metal honeycomb is widely used in energy absorption field for its special construction. However, many other metal honeycomb structures also show good energy absorption characteristics. Currently, most of the researches focus on hexagonal honeycomb, while few are performed into different honeycomb structures. Therefore, a new alternative square honeycomb is developed to expand the non-hexagonal metal honeycomb applications in the energy absorption fields with the aim of designing low mass and low volume energy absorbers. The finite element model of alternative square honeycomb is built to analyze its specific energy absorption property. As the diversity of honeycomb structure, the parameterized metal honeycomb finite element analysis program is conducted based on PCL language. That program can automatically create finite element model. Numerical results show that with the same foil thickness and cell length of metal honeycomb, the alternative square has better specific energy absorption than hexagonal honeycomb. Using response surface method, the mathematical formulas of honeycomb crashworthiness properties are obtained and optimization is done to get the maximum specific energy absorption property honeycomb. Optimal results demonstrate that to absorb same energy, alternative square honeycomb can save 10% volume of buffer structure than hexagonal honeycomb can do. This research is significant in providing technical support in the extended application of different honeycomb used as crashworthiness structures, and is absolutely essential in low volume and low mass energy absorber design.

关键词： crashworthiness alternative square honeycomb energy-absorption characteristic response surface methodology numerical simulation

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