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

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Optimal design for a 2-dof high dynamic manipulator based on parallelogram mechanism

Optimal design for a 2-dof high dynamic manipulator based on...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Min Xiu Kong Wei You Zhi Jiang Du Li Ning Sun School of Material Science and Engineering Harbin Institute of Technology China State Key Laboratory of Robotics and System Harbin China

In this paper, a design and optimization approach for a 2-dof manipulator based on parallelogram mechanism for high dynamic application is proposed. After the kinematic and dynamic analysis, several advantages of the mechanism are illustrated which make it possible to reach good dynamic performance through mechanism optimization. Based on the idea of design for control (DFC), a novel kind of multi-objective optimization method is presented. Several index considering both kinematic and dynamic performances are chosen as objective functions and design constraints. The cross-section area and length of the linkages are chosen as the design variables. NSGA-II algorithm is introduced to solve this complex multi-objective optimization problem. And a new expression for the measuring of dynamic coupling degree with clear physical meaning is proposed, it shows that the optimized mechanism has an approximate decoupled dynamics structure, and each active joint could be regarded as a linear SISO system. The final optimized mechanism could be used in high speed pick-plate applications only using simple linear controller.

关键词： Joints Couplings Optimization Kinematics Mathematical model Equations Manipulator dynamics

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Multiple-sensor indoor surveillance system based on hybrid network

Multiple-sensor indoor surveillance system based on hybrid n...

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2010 Second International Conference on Intelligent Human-Machine systems and Cybernetics(第二届智能人机系统与控制论国际学术会议 IHMSC 2010)

作者： Ruifeng Li ShiQiu Lijun Zhao State Key Laboratory of Robotics Harbin Institute of Technology Harbin 150081China

Since the aging population increasing and the acceleration of the life pace, more intelligent robots have been developed for health monitoring and home security. In this paper, we proposed a framework of indoor security information interactive system basing on Internet and GSM/GPRS hybrid network. On hardware, the system consists of several sub-systems: industrial computer, GSM/GPRS module, ultrasonic module, infrared module, photoelectric sensor module, motor driver and controller, video server module, environment detection module, CAN bus data acquisition card and CCD camera. We also achieved a network architecture on software including client, local server and robot console. A robot system is developed to verify the feasibility and efficiency of this architecture. The experiment results proved that the system can meet our expectations.

关键词： Security mobile robot hybrid network information interaction Client/Server mode modular design

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Improvement on obstacle avoiding ability based on laser range finder

Improvement on obstacle avoiding ability based on laser rang...

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IEEE International Conference on Mechatronics and Automation

作者： Fujun He Xiaolei Liu Zhijiang Du Yueyue Ta Daqing Petroleum Institute Daqing Heilongjiang China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Mechanical Science and Technology Electrical Engineering Department Daqing Petroleum Institute Daqing Heilongjiang China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

Mobile robot works in complicated environment have to deal with all kinds of obstacles, some obstacles may leave only a narrow way, and some obstacles moves quickly or arbitrarily, such as a child. The robot must improve its ability to quickly sensing the obstacles and tracking their state, and then avoid these obstacle and move to the original goal at the same time by motion planning. To improve the obstacle avoiding ability, a three layers obstacle avoiding policy is adopted to deal with the obstacle in different range. The dangerous obstacles are determined and the sub-goal based avoiding policy is presented. To improve the responding ability to moving object, a tracking model is set up, which takes into account the influence of moving platform. The robot may anticipate the collision possibility, collision time and position from tracking algorithm, and then three obstacle avoiding policy is presented according to the collision estimation. The experiment shows good moving object avoiding result.

关键词： Collision avoidance Radar tracking Tracking Robot kinematics Covariance matrix Jacobian matrices

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Flying Vision system of Placement Machine for MEMS Microphone

Flying Vision System of Placement Machine for MEMS Microphon...

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International Conference on Control, Automation, robotics and Vision

作者： Liguo CHEN Jifeng ZHU Weibin RONG Lining SUN Robotics and Microsystems Center Soochow University Suzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang China

ISBN: (纸本)9781424478149

In the die bonding process of MEMS microphone chip, the exact center and rotate angle of MEMS microphone chip is corrected after the vacuum nozzle has adsorbed it. In order to achieve high speed and precision placement function, the flying vision system based on rotating mirror is proposed, the mirror is driven to rotate by the power drawn from the nozzle rise and fall movement through a rack and pinion mechanism, the nozzle pick and place functions is not interfered by mirror through designing the rack and pinion mechanism parameters. The vision system can capture an static clear MEMS chip image when the mirror rotated to a 45 degrees position referenced with horizontal position, the center position and rotating angle of MEMS chip is fast calculated by the fine and coarse Hough Transform Algorithm, the center location and angle will be corrected by the control system during the mounted head is flying to placement position. The experimental results show that the system can obtain high-quality MEMS microphone chip image, the chip's center position and rotating angle correction algorithm takes no more than 0.1s, so it can meet the high-speed placement requirements. In this proposed flying vision system, mechanical structure is simple and compact, MEMS chip's image is clear without distortion, and there is no restriction on the mounted head movement trajectory. The flying vision system significantly enhances the quality and efficiency of SMD Chip;it can be widely used in the surface mounted system.

关键词： flying vision Hough transform MEMS microphone reflection mirror placement machine

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CPG based locomotion control of pitch-yaw connecting modular self-reconfigurable robots

CPG based locomotion control of pitch-yaw connecting modular...

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International Conference on Information and Automation (ICIA)

作者： Xindan Cui Yanhe Zhu Xizhe Zang Shufeng Tang Jie Zhao State Key laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang China

Self-reconfiguration (SR) robots can take any form by connecting the modules in different configurations. The configurations formed by the modules have many degrees of freedom; therefore, designing a control method for whole body locomotion is more difficult than for the conventional robots. This paper utilizes central pattern generators (CPGs). Each neural oscillator of the network of CPGs works as a distributed joint controller of each module. Three kinds of snake-like configurations and their locomotion gaits have been summarized. Pitch-Yaw connecting snake-like configuration has the most flexibility, which is our research emphasis. Four moving gaits of the Pitch-Yaw have been controlled by the network of the CPG oscillators successfully, that is: worming, side winding, rolling and turning. All the locomotions have been simulated in ADAMS, the simulation experiment has verified the control method of CPGs we designed.

关键词： Joining processes Robots Strontium Oscillators robotics and automation Biological system modeling Mathematical model Control systems Design methodology Turning

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Velocity analysis of tri-axial differential pipeline robot when getting across elbow

Velocity analysis of tri-axial differential pipeline robot w...

引用

International Conference on Information and Automation (ICIA)

作者： Qingkai Li Dewei Tang Zongquan Deng Shengyuan Jiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China College of Mechanical Engineering Beihang University Jilin China

A wheel-type pipeline robot applying a tri-axial differential mechanism is presented in this paper, which is targeted for moving inside the elbow while the ratios of angular velocities of the driving wheels depend on their movement trajectories. The main features of the robot are illustrated and some details about the mechanism are provided. To confirm the differential effectiveness of the robot, a geometry model of the robot in the elbow is established, which makes it possible to calculate the wheel centers and the contact points between the wheels and the inner surface of the pipeline. On the basis of the geometry model, the velocity ratios of the driving wheels can be computed. Several virtual experiments are performed, and the differential function of the robot is validated through the comparisons of the results between the theoretical analysis and the experiments.

关键词： Pipelines Elbow Mobile robots Wheels robotics and automation Angular velocity Computational geometry Solid modeling Petroleum Information analysis

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Terramechanics-based high-fidelity dynamics simulation for wheeled mobile robot on deformable rough terrain

Terramechanics-based high-fidelity dynamics simulation for w...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Liang Ding Keiji Nagatani Keisuke Sato Andres Mora Kazuya Yoshida Haibo Gao Zongquan Deng Department of Aerospace Engineering University of Tohoku Sendai Japan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China Harbin Institute of Technology Harbin Heilongjiang CN

Numerical simulation analysis of the motion of wheeled mobile robots is significant for both their R&D and control phases, especially due to the recent increase in the number of planetary exploration missions. Using the position/orientation of the rover body and all the joint angles as generalized coordinates, the Jacobian matrices and recursive dynamic models are derived. Terramechanics models for calculating the forces and moments that act on the wheel-as a result of the deformable soil-are introduced in consideration of the effect of normal force. A rough terrain modeling method is developed for estimating the wheel-soil interaction area, wheel sinkage, and the terminal coordinate. A simulation program that includes the above techniques is developed using Matlab and SpaceDyn Toolbox. Experimental results from a 4-wheeled mobile robot moving on Toyoura soft sand are used to verify the fidelity of the simulation. A simulation example of a robot moving on a random rough terrain is also presented.

关键词： Deformable models Mobile robots Mathematical model Numerical simulation Motion analysis Motion control Jacobian matrices Wheels Robot kinematics Orbital robotics

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Laser range finder based moving object tracking and avoidance in dynamic environment

Laser range finder based moving object tracking and avoidanc...

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International Conference on Information and Automation (ICIA)

作者： Fujun He Zhijiang Du Xiaolei Liu Yueyue Ta Department of Mechanical Science and Technology Daqing Petroleum Institute Daqing Heilongjiang China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

The mobile robot that works in dynamic environment must have strong ability of avoiding obstacles especially moving objects and move to it original goal. To achieve the goal, the dynamic polar coordinate environment model based on laser range finder is set up, which can not only simplify the environment description but also improve the responding ability. Based on these data a moving object tracking model is also set up, which take into account the influence of moving platform, may obtain better tracking effect. The robot may anticipate the collision possibility, collision time and position from tracking algorithm, and then three obstacle avoiding policy is presented for robot to choose according to the collision estimation. The experiment shows good moving object avoiding result.

关键词： Radar tracking Mobile robots Robot sensing systems Robot kinematics Laser radar robotics and automation Helium Laser modes Particle tracking Nonlinear systems

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Local shape patch based object detection

Local shape patch based object detection

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International Conference on Information and Automation (ICIA)

作者： Zhijiang Du Chen Guodong Lining Sun Junhong Ji Ming Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore

We present a novel object detection framework that uses the local shape patches features combining the interclass global features information. A supervised local model learning architecture is proposed: a novel interest point descriptor is proposed and applied to detect the local shape patches, the local shape patches are formed by chains of several connected contour segments. Then the object local contour parts model are learned from a small set of training images. In order to make the local contour patch model is invariant to rotation and translation, the local contour patch descriptor is represented by modified shape context. By adding the edge orientation information and interclass global information, the power of differentiating mismatches is increased, especially detecting the objects existing similar parts. Both experiments on image feature point matching and object detection comparing with other feature descriptors are carried out in order to validate the proposed method.

关键词： Shape Object detection Image segmentation Context modeling Histograms Biological system modeling robotics and automation Image edge detection Feature extraction Sun

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The cold rolling strip surface defect on-line inspection system based on machine vision

The cold rolling strip surface defect on-line inspection sys...

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Pacific-Asia Conference on Circuits, Communications and systems, PACCS

作者： Jie Zhao Yongmin Yang Ge Li State Key Laboratory of Robotic and System Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424479689

In order to inspect the cold rolling strip main surface defects in while product line running normally and control manufacturing process more efficiently, a novel cold rolling strip surface defect on-line inspection system is designed. Modularization design idea is adopted, the whole system is made up of light source module, image collection module, defect image processing module and server module. For making sure real-time characteristics of the system, high-speed linear CCD camera and relational high-speed fiber image collection card, high-speed FPGA image processing card designed by ourselves are adopted in hardware, RT-Linux real-time operation system is adopted in software. Aiming at low contrast and high noise of defect image, homomorphic filtering algorithm based on PDE is proposed for image preprocess; considering of the exist of defect image transition region, image segmentation algorithm based fuzzy-set and information entropy theory is adopted to accomplish defect abstraction. Based on these, kinds of features of defect are extracted, the defect classification based on fuzzy support vector machine is designed and classification experiment is finished, better classification effect is obtained.

关键词： OWL Field programmable gate arrays Hardware

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