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检索条件"机构=State Key Laboratory of Robotics and System"

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Dynamics and motion control of a two pendulums driven spherical robot

Dynamics and motion control of a two pendulums driven spheri...

引用

23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and systems, IROS 2010

作者： Zhao, Bo Li, Mantian Yu, Haitao Hu, Haiyan Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424466757

This paper deals with the dynamics and motion control of a spherical robot designed for reconnaissance and unstructured hostile environment exploration. The robot in this paper has three DOFs and two inputs, of which the nature is a nonlinear and underactuated system with nonholonomic dynamic constraints. The improved construction of two pendulums offers novel motion principle of spherical robot, which is moving simultaneously actuated by both eccentric moment and inertial moment generated by the two pendulums. Meanwhile the mobility is enhanced when the robot behaves dynamically. The emphasis is placed on the linear motion and turning in place motion control. The dynamic model of linear motion is formulated on the basis of Lagrange equation, and a smooth trajectory planning method is proposed for linear motion. A feedback controller is constructed to ensure the accurate trajectory planning. Turning in place motion is an indispensable element of omni directional locomotion which can enhance the mobility of spherical robots. The dynamic model of turning in place motion is derived on the theory of moment of momentum, and a stick-slip principle is analyzed. The two motion control methods are validated by both simulations and prototype experiments. ©2010 IEEE.

关键词： Motion control

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Teleoperation system of internet-based multi-operator multi-mobile- manipulator

Teleoperation system of internet-based multi-operator multi-...

引用

International Conference on Electrical and Control Engineering, ICECE 2010

作者： Ma, Liang Yan, Jihong Zhao, Jie Chen, Zhifeng Cai, Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology 150080 Harbin China

ISBN: (纸本)9780769540313

A teleoperation system of Internet-based Multi-Operator Multi-Mobile-Manipulator is proposed in this paper. The system consists of master sides and slave side, which has the characteristics of mobility, cooperation, distribution, fault tolerance, redundancy etc. In master sides, with the aid of Distributed Virtual Environment and multi-video image, operators use the haptic interface device to control the remote robots via Internet. The 9-DOF mobile-manipulators which combine the mobility of the omnidirectional mobile plat and the manipulability of the manipulator are located in the slave side. Modules of ultrasonic location and ultrasonic/infrared distance measurement are arranged on the mobile-manipulators, and six-axis force sensors are fixed on the wrist of mobile-manipulators. Six video cameras are installed in slave side to provide the operators multi-video image. A network server collects the information of the sensors by WLAN and sends them to operators through net. With the aid of real-time multi-video image and feedbacks, operators could control the robots to complete the task. Finally, the effectiveness of the teleoperation system is illustrated by experiments that the operators control the robots to complete the role of delivering and transporting via Internet, and achieve loose coordination, mobile tight coordination and operated tight coordination teleoperation. © 2010 IEEE.

关键词： Remote control

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Master-slave control technology research for abdominal minimally invasive surgery robot

Master-slave control technology research for abdominal minim...

引用

ASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010

作者： Fu, Yili Li, Han Xie, Qi State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9780791844267

According to characteristics of abdominal minimally invasive robotic surgical tasks, based on performant industrial computer platform, an extended multifunctional hardware communicates with PCI-bus is designed, a master-slave control system is studied. In order to solve the problem of low responsivity caused by traditional inverse kinematics transformation method, a algorithm based on equivalent differential transformation suitable for real-time master-slave surgical robot control is put forward, and the accumulated error of the algorithm is eliminated by feedback mechanism. A fast trajectory planning method efficient in real-time master-slave surgical robot control is put forward to replace traditional trajectory prediction and off-line calculation. Finally, in order to avoid the impact on the accuracy of the system coursed by hand-trembling of operators, a digital filter is designed to help filtering the master manipulator signal. Copyright © 2010 by ASME.

关键词： Inverse problems

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Investigation of magnetic coupling of phases in a novel transverse flux machine by consideration of self- and mutual- inductance

Investigation of magnetic coupling of phases in a novel tran...

引用

14th Biennial IEEE Conference on Electromagnetic Field Computation, CEFC2010

作者： Wang, Qian Zou, Jibin Fu, Xinghe Jiang, Xintong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424470594

This paper performs an analysis on the magnetic coupling of phases for a novel transverse flux machine (TFM) by comparison of the values of self- and mutual- inductance. It is shown that the proposed TFM inherits the merit of magnetic decoupling of phases as in traditional TFM, and thus can readily achieve fault-tolerant operation and high-precision control. © 2010 IEEE.

关键词： Magnetic couplings

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Design and primitive study of a cylindrical traveling wave ultrasonic motor using outer excitation

Design and primitive study of a cylindrical traveling wave u...

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2010 International Symposium on Optomechatronic Technologies, ISOT 2010

作者： Liu, Junkao Shi, Shengjun Chen, Weishan Dong, Huijun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424476848

A cylindrical traveling wave ultrasonic motor using outer excitation of two bending transducers is proposed in this paper. To avoid the drawbacks of conventional traveling wave ultrasonic motors, sandwich structure of PZT elements and d33 mode of PZT are used here. Working principle and design analysis by means of FEM method are detailed. A prototype motor has been fabricated and tested. Although the tested results of output torque was not ideal as compared with desired, the original configuration idea has great potential to obtain strong out put in our further study on it. © 2010 IEEE.

关键词： Piezoelectric motors

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Stable and accurate trajectory control technology for the wafer transfer robot

Stable and accurate trajectory control technology for the wa...

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Liu, Yanjie Hu, Yong Zheng, Xiaofei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9781424457021

During the processing of wafer, in order to avoid the friction between wafer and wafer box, and to guarantee the clean state of the working environment simultaneously, small contour error and little vibration are required for wafer transfer robot to deliver wafer, i.e., to achieve stable and accurate trajectory for wafer delivery. To lessen contour error, suppress vibration, a kind of control algorithm has been proposed in this paper combining cross-coupled synchronized control and input shaping. Via cross-coupled synchronized control, synchronization of the actuating joint can be improved and the contour accuracy can be enhanced;through the shaping of the driving impulses for the shoulder joint and the elbow joint by input shaper, the vibration at the end-effector can be reduced. Based on the experiments verified on the planar joint wafer transfer robot, it shows that the synchronizing and vibration-suppressing performance is excellent by taking advantage of the method covering both cross-coupled synchronized control and input shaping. ©2010 IEEE.

关键词： Synchronization

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Research on a central pattern generator bionic coupling control system of robot

Research on a central pattern generator bionic coupling cont...

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Wang, Tingting Guo, Wei Zha, Fusheng Li, Mantian State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781424457021

Animal's walking is a complex rhythmic motion that has good celerity, adaptability and stability. Walking is controlled and harmonized by the animal's nerve-muscle control system. The joints are coupling during walking and are regulated by the nerve center. Based on this mechanism, a concept of bionic coupling control system is presented. This system which simulates the integration effect of animal's nerve consists of a central pattern generator (CPG) planner built based on the three local neurons network model of CPG, a forward path of motorneuron and a feedback path. Finally, a simulative experiment is done on a platform of robot leg, and the coupling control of robot leg is realized by a single CPG. ©2010 IEEE.

关键词： Animals

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Automatic localization of AC and PC landmarks in T2-weighted MR volumetric neuroimages

Automatic localization of AC and PC landmarks in T2-weighted...

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Zhang, Guangcai Fu, Yili Wang, Shuguo Gao, Wenpeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Provinc China

ISBN: (纸本)9781424457021

A novel method is presented for automatic identification of the anterior commissure (AC) and posterior commissure (PC) in T2-weighted MR volumetric images (MRI). AC and PC are two critical landmarks of human brain. It is important to accurately identify them for brain segmentation, registration, functional neurosurgery, human brain mapping, and particularly for the Talairach transformation. The algorithm of identifying them consists of four steps: (1) Identify the corpus callosum and select the region of interest;(2) Identify the fornix and locate the initial AC;(3) Segment part of the third ventricle and locate the initial PC;(4) Refine the positions of AC and PC. The algorithm has been validated quantitatively with 20 T2-weighted MRI data sets. The mean errors of the localization of them were 1.50 mm (AC) and 1.60 mm (PC). It took about 15 seconds for identifying them on P4 3.0 GHz. This fully automatic algorithm is potentially useful in clinic and for research. ©2010 IEEE.

关键词： Brain mapping

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Joint driver and control design for large torque, long arm space remote manipulator

Joint driver and control design for large torque, long arm s...

引用

2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Guo, Chuangqiang Ni, Fenglei Sun, Jingting Liu, Yechao Liu, Hong State Key Laboratory of Robotics System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781424457021

This paper presents an overview of the structure and requirements of a ground engineering model for a space remote manipulator system, with long arm and large torque driver capacity. The system consists of a 6 DOFs robot arm composed of six identical modular joints, and a large-error tolerated end effector. A FPGA based joint controller hardware structure is built to form a distributed control scheme of the robot arm, while a fourth-order hybrid controller based on the joint torque feedback is adopted to reduce the influence of joint flexibility, brought by the harmonic drivers and torque sensor, on the control precision. A single-joint control experiment, designed to lift up a load at the tip of a link, about two meters in length, is used to test the ability of trajectory tracking in the gravity field. ©2010 IEEE.

关键词： Controllers

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Real-time hand gesture recognition for service robot

Real-time hand gesture recognition for service robot

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2010 International Conference on Intelligent Computation Technology and Automation, ICICTA 2010

作者： Wang, Ke Wang, Li Li, Ruifeng Zhao, Lijun State Key Laboratory and Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China

ISBN: (纸本)9780769540771

A real-time hand gesture recognition system is developed for human-robot interaction of service robot. The proposed system is mainly composed of two subsystems: one for gesture recognition, and the other for the classification of the gesture motion. The system first uses a cascade classifier to locate the potential hand region from video frame. Then, Gabor wavelets transformation is applied to extract the gesture features which are automatically recognized based on a bank of Support Vector Machines (SVMs). For the estimated motion trajectory of each gesture, we make a set of discrete symbols using vector quantization method and, this symbol sequence is fed into the Hidden Markov Model (HMM) in the gesture motion classification subsystem. Experimental results are shown finally. © 2010 IEEE.

关键词： Hidden Markov models

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