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International Conference on Mechatronics and Automation

作者： Z. L. Wang Y. Liu B. G. Cai J. Zhao School of Electronic Information and Engineering Beijing Jiao Tong University State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781467312752

It has been proved that, based on planar region alignment, camera ego-motion motion can be robustly estimated with a multistage approach in [24], Based on this observation, a visual regulation approach based on planar region alignment is proposed. This paper is composed of two parts. In the first part, the image motion model of planar point is reviewed first, which will be used for camera motion estimation. Then a simple least square method for computing homography matrix H is introduced. The basic procedure of multistage motion estimation based on planar region alignment is summarized. In the second part, the kinematic model of monocular camera based mobile robot system is deduced with a constrained camera-robot configuration, the visual regulation control law is derived and the stability of the close loop system is analyzed in the sense of Lyapunov stability theory. The motion estimation experiment results are presented with real images, and simulation results show the convergence of the proposed visual regulation.

关键词： Region alignment Monocular vision Mobile robot Visual regulation Lypunov stability theory

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Dynamic simulation and analyzation of arc welding robot

Dynamic simulation and analyzation of arc welding robot

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International Workshop on Intelligent systems and Applications

作者： Yu, Dianyong Ding, Kai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424498574

In this paper, we take 6kg arc welding robot designed by our lab as research object and build a complex virtual prototype model. A fast, intuitive and effective dynamics method which is based on simulink and robotics toolbox is designed to validate the virtual prototype model is right. On this basis we check the select of motor and reducer. © 2011 IEEE.

关键词： Industrial robots

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Global model of PMLSM drive system using bond graph method

Global model of PMLSM drive system using bond graph method

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2011 International Conference on Electric and Electronics, EEIC 2011

作者： Li, Teng Liu, Yanjie Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783642217463

Global model of permanent magnet linear synchronous motor (PMLSM) drive system is built in this paper by bond graph method. In the global model each component of PMLSM drive system are concerned, which include motor driver, PMLSM, mechanism structure and sensor. 20-sim software is used to simulate the global model and do analysis of system's character. Simulation results illustrate that time constant of inverter in motor driver results in response lag, and sensor resolution influences the following accuracy. The process of modeling and analyzing fully shows the superiority of bond graph method and 20-sim software in multi domain system. © Springer-Verlag Berlin Heidelberg 2011.

关键词： Synchronous motors

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Motion-control-based analytical model for wheel-soil interaction mechanics of lunar rover

Motion-control-based analytical model for wheel-soil interac...

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6th International Forum on Strategic Technology, IFOST 2011

作者： Xia, Kerui Ding, Liang Gao, Haibo Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781457703966

During rover lunar exploration missions (such as China's "Chang'e"), rovers are required to move autonomously on the loose lunar soil. Control methods based on the rigidity hypothesis can hardly be expected to satisfy these requirements practically so wheel-soil interaction mechanics should be taken into account. The currently used integral model based on wheel-soil interaction mechanics, however, is complicated, and it cannot be directly applied to the design of a lunar rover's controller. This paper presents a new simplified method of determining the wheel-soil interaction of lunar rovers by introducing a normal stress factor and the ratio of the forward region to the rear region, based on an analysis of the integral model and lunar soil parameters. As an example, numerical analysis is performed for a lunar rover wheel with a width of 165 mm and a radius of 135 mm. Based on a slip ratio as high as 0.4 and an entrance angle that varies from 10° to 40°, the results show that the maximum errors of the model for the calculation of normal force and drawbar pull force are less than 2%, while the maximum error of resistance torque is approximately 5%. When designing a rover's controller, the relationship between the driving torque of wheel T and the drawbar pull of wheel FDP is T = FDPr according to the rigidity hypothesis, a relationship that contradicts the terramechanics model. The proposed simplified model, which is verified by experiments, provides an important basis for the design of a control algorithm for a lunar rover that takes into account lunar wheel-soil interaction mechanics. © 2011 IEEE.

关键词： Rovers

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Positioning for array micro-holes punching

Positioning for array micro-holes punching

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6th International Forum on Strategic Technology, IFOST 2011

作者： Liu, Yanwu Qu, Dongsheng Wu, Xing State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781457703966

The forming technique of micro-punching is an important method for precision plastic machining of micro-parts, the micro-hole size must be sub-millimeter in two-dimension. To punch less than 200μm micro-holes on thin plate and realize precise positioning, established positioning system based on micro-vision technology and detected the location of thin plate by the image of reference hole. Proposed a localization algorithm based on coordinate transformation, eliminated the positioning error, and achieved micro-hole positioning by controlling the servo platform. Completed the study on the image processing method, identified the reference hole by Hough and least-square circle detecting method. © 2011 IEEE.

关键词： Least squares approximations

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Frame vibration suppression for wafer transfer system

Frame vibration suppression for wafer transfer system

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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011

作者： Liu, Yanjie Wu, Mingyue Xu, Guobao Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781457707223

The rapid development of the Integrated Circuit (IC) manufacturing equipment industry requires greater efficiency for wafer transfer. However, the faster wafer transfer robot moves, the bigger the force applied on its support frame is, and also the bigger vibration aroused on the frame because of the low stiffness of the support frame. Meanwhile, some IC equipment are ultra-high sensitive to the vibration. So the speed of the wafer transfer robot is limited by the vibration of the frame In order to improve wafer transmission efficiency and synchronously reduce the vibration to the frame, in this paper, the rigid-flexible coupled dynamic model of wafer transfer robot was built, and then the vibration analysis of the robot on its support frame was discussed. After that the trajectory planning was used to suppress the force applied on the frame to reduce the vibration of the frame. Finally, the experiment system was built. The result shows that the vibration of the frame, while keeping the robot transmission efficiency, was clearly suppressed by using the bi-axis interpolation trajectory control. © 2011 IEEE.

关键词： Vibration analysis

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Frication compensation and disturbance observer design for a high acceleration precision direct drive motion stage

Frication compensation and disturbance observer design for a...

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3rd IEEE International Conference on Advanced Computer Control, ICACC 2011

作者： Li, Teng Liu, Yanjie Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424488087

Friction compensation and disturbance observer design in velocity loop for a high acceleration precision motion stage actuated by linear motor is considered. The friction compensator divides the friction into linear and nonlinear part basing on LuGre model, linear part is treated as damping together with other part in system, and nonlinear part is compensated basing on the model. Internal state z in LuGre model is calculated according model and position real time instead of using state observer, which can reduce calculation and as far as possible to ensure the precision of friction model. The disturbance observer proposed here account for time delay in system which caused by discrete sampling, signal process, transport distance, and so on. Simulation results demonstrate the effectiveness of the approach. © 2011 IEEE.

关键词： Linear motors

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Virtual space painting system based on transparency haptic interaction

Virtual space painting system based on transparency haptic i...

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International Conference on Consumer Electronics, Communications and Networks

作者： Yanhe, Zhu Jizhuang, Fan Xindan, Cui Jie, Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781612844572

The traditional drawing system based on the 2-D mouse can not realize the haptic interaction between operators and virtual environment. This is not available for operator to feel the interaction sensitivity. A virtual space painting system based on transparency haptic interaction is proposed. This system uses the admittance type haptic device as the information interaction interface between operators and virtual environment. This paper presents an implicit force control algorithm to adapt the control of the transparency haptic interaction device. This system use the body contact detection, the virtual force generation and smoothness to build the virtual environment. Finally, a virtual painting experiment is done. The result shows that this system could improve the transparency of the haptic interaction. It means that the real artistic creation could be realized on the computer. © 2011 IEEE.

关键词： Virtual reality

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Initial design of a biomimetic cuttlefish robot actuated by SMA wires

Initial design of a biomimetic cuttlefish robot actuated by ...

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International Conference on Measuring Technology and Mechatronics Automation

作者： Wang, Yangwei Wang, Zhenlong Li, Jian State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9780769542966

This article describes the initial design of a biomimetic cuttlefish robot. The robot has a similar streamlined shape as cuttlefish, propelled by the complex of the biomimetic undulatory level pectoral fin and the waterjetting. Firstly, the morphology and swimming theory of cuttlefish is analyzed. Secondly, the overall structure of the biomimetic cuttlefish robot is designed and the threedimensional model is simulated by software FLUENT. Finally, the biomimetic level pectoral fin and the biomimetic mantle actuated by SMA wires are designed. The propulsive thrust and the propulsive efficiency are analyzed. The results show that the robot has good hydrodynamic performance, can achieve slow swimming speed with high efficiency by the level pectoral fin. When the swimming speed is 0.18 m/s, the propulsive fore is 0.047 N, the propulsive efficiency is 89 %. It can also achieve high swimming speed relying on jetting propulsion. The maximum propulsive force is 0.79 N and the maximum swimming speed is above 0.6 m/s, the propulsive efficiency is 31 %. © 2011 IEEE.

关键词： Shape memory effect

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Robust Iterated Sigma Point FastSLAM Algorithm for Mobile Robot Simultaneous Localization and Mapping

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Chinese Journal of Mechanical Engineering 2011年第4期24卷 693-700页

作者： SONG Yu SONG Yongduan LI Qingling Center for Intelligent System and Renewable Energy Beijing Jiaotong University Beijing 100044 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Institute of Automation Chinese Academy of Sciences Beijing 100190 China

Simultaneous localization and mapping （SLAM） is a key technology for mobile robots operating under unknown environment. While FastSLAM algorithm is a popular solution to the SLAM problem, it suffers from two major drawbacks： one is particle set degeneracy due to lack of observation information in proposal distribution design of the particle filter; the other is errors accumulation caused by linearization of the nonlinear robot motion model and the nonlinear environment observation model. For the purpose of overcoming the above problems, a new iterated sigma point FastSLAM （ISP-FastSLAM） algorithm is proposed. The main contribution of the algorithm lies in the utilization of iterated sigma point Kalman filter （ISPKF）, which minimizes statistical linearization error through Gaussian-Newton iteration, to design an optimal proposal distribution of the particle filter and to estimate the environment landmarks. On the basis of Rao-Blackwellized particle filter, the proposed ISP-FastSLAM algorithm is comprised by two main parts： in the first part, an iterated sigma point particle filter （ISPPF） to localize the robot is proposed, in which the proposal distribution is accurately estimated by the ISPKF; in the second part, a set of ISPKFs is used to estimate the environment landmarks. The simulation test of the proposed ISP-FastSLAM algorithm compared with FastSLAM2.0 algorithm and Unscented FastSLAM algorithm is carried out, and the performances of the three algorithms are compared. The simulation and comparing results show that the proposed ISP-FastSLAM outperforms other two algorithms both in accuracy and in robustness. The proposed algorithm provides reference for the optimization research of FastSLAM algorithm.

关键词： mobile robot simultaneous localization and mapping （SLAM） particle filter Kalman filter unscented transformation

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