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Study of digital control system for seismic simulation test rig

Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2009年第SUPPL.期30卷 342-346页

作者： Cong, Dacheng He, Jingfeng Han, Junwei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The digital control system of a seismic simulation test rig was developed for earthquake waveform replication. The control system was implemented by the two-level distributed network which increases the stability, reliability and safety of the system. The three control variables method (displacement velocity and acceleration) broad the frequency range of the test rig. Accurate waveform replication was realized by vibration control technique based on system identification and iterative algorithm. The experimental results show that the correlation coefficient between the response and the reference was greater than 0.9 after two to three times system identification and iterative control.

关键词： Digital control systems

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Working principle and design of a ring type traveling wave ultrasonic motor using composite transducer

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2009年第SUPPL.期30卷 200-204页

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

A ring type traveling wave ultrasonic motor using composite transducer is proposed. The transducer includes one exponential horn located on leading end, and the horn insect with the ring at tip end. Two degenerate flexural vibration modes spatially and temporally orthogonal to each other in the ring are excited by the transducer. The working principle of proposed motor is analyzed. The stator is designed with FEM. The two vibration modals of stator are degenerated. Transient analysis is developed to gain the vibration characteristics of stator, and results indicate that the motion trajectories of nodes on the teeth are nearly ellipses. Results also indicate the proposed design enables the motor to operate with large vibration amplitude. The results of this paper verify the theoretical feasibility and provide instructions for the development of proposed motor.

关键词： Stators

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Visual tracking strategy based on fuzzy multi visual cue integration

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Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University 2009年第8期43卷 33-37页

作者： Zhang, Guoliang Xie, Zongwu Jiang, Zainan Wang, Jie Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

To improve the adaptability of visual tracking system for various circumstances in space, a visual tracking strategy based on fuzzy multi visual cue integration is proposed, which synthesizes multi visual cue together to represent the features of object. The recognition of object is intelligentized by integration of each fuzzy cue. To deal with the effects of noise on segmentation threshold of moving object, a new region-based segmentation is chosen to realize stable clustering of moving region by integrating population statistics and region growing. Compared with conventional local feature recognition, this strategy is adaptive to complex and dynamic circumstances. Redundant information complements each other for ensuring feature recognition and tracking in uncertain environment. Experimental results demonstrate the robust feature recognition and tracking with this strategy, especially in part occlusion and unstable lighting.

关键词： Population statistics

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Path planning method for free-floating space robot in Cartesian space

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Jiqiren/Robot 2009年第2期31卷 187-192页

作者： Zhang, Fu-Hai Fu, Yi-Li Wang, Shu-Guo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

In order to ensure spacecraft attitude stability for the operational free floating space robot (FFSR), a nonholonomic path planning method with zero-disturbance spacecraft attitude in Cartesian space is presented for the FFSR. Firstly, based on the characteristic equation and angular momentum conservation equation of the FFSR, the generalized Jacobian matrix is obtained. Secondly, in order to meet the need of path planning, the reachable workspace of FFSR with zero-disturbance spacecraft attitude is analyzed. Finally, with the introduction of correlative coefficient, the zero-disturbance vector synthesis algorithm in Cartesian space is designed. Simulation results of path planning show that the manipulator end-effector can reach the desired point and the spacecraft attitude is of zero-disturbance simultaneously. Therefore, the feasibility and validity of the presented method are verified.

关键词： Motion planning

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Impact absorption of a dual-crawler-driven robot

Impact absorption of a dual-crawler-driven robot

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IEEE International Conference on robotics and Biomimetics

作者： Qiquan Quan Shugen Ma Rongqiang Liu Bin Li Department of Robotics Ritsumeikan University Japan School of Mechatronics Engineering Harbin Institute of Technology China State Key Laboratory of Robotics Shenyang Institute of Automation China

This paper introduces a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is adopted as the power transmission device to give two different outputs with just one actuator. Compared with each module driven by two actuators, the module driven by just one actuator could perform a good impact absorption when a collision occurs with environment due to the fact that an output redundancy exists inside. To figure out what the advantage of our mechanism to the impact absorption is, impact analysis from the external components of the robot to its internal transmission parts is conducted and the results of impact effect to actuators in our mechanism are correspondingly derived in comparison with that in the conventional mechanism where each output is provided by one actuator.

关键词： Absorption Actuators Crawlers robotics and automation Switches Gears Tracking Mobile robots Parallel robots Control systems

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Simultaneous localization and mapping for mobile robot based on an improved particle filter algorithm

Simultaneous localization and mapping for mobile robot based...

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IEEE International Conference on Mechatronics and Automation

作者： Zhong Min Wang De Hua Miao Zhi Jiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China College of Mechanical Engineering Tianjin University of Technology and Education Tianjin China College of Mechanical Engineering Tianjin University of Technology and Education 300222 China

Simultaneous localization and mapping (SLAM) is an important topic in the autonomous mobile robot research. An improved Rao-Blackwellised particle filter (IRBPF) algorithm is proposed for the mobile robot to SLAM, which can simultaneously localize the robot and build up the map in the structured indoor environment. Firstly, IRBPF respectively uses particle filters (PF) to estimate the posterior probability distributions of robot postures and landmarks in the environment map. Secondly, an adaptive re-sampling technique is used to reduce the times of re-sampling so as to maintain a reasonable speed of samples, thus it reduce the risk of sample depletion. Finally, a robust motion model and an observation model with only ranging sensor and odometer are constructed. Experiment results indicate that the IRBPF algorithm builds the consistent map and modified the precision and real-time performance of localization and mapping, the SLAM results show the efficiency of this IRBPF algorithm.

关键词： Simultaneous localization and mapping Mobile robots Particle filters state estimation Frequency estimation Mechatronics robotics and automation Laboratories Indoor environments Probability distribution

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Flexible FPGA-Based Controller Architecture for Five-fingered Dexterous Robot Hand with Effective Impedance Control

Flexible FPGA-Based Controller Architecture for Five-fingere...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Z.P. Chen N.Y. Lii K. Wu H. Liu Z.X. Xue S.W. Fan M.H.Jin Y.W. Liu T. Lan Institute of Robotics and Mechatronics German Aerospace CenterDLR 82234 WesslingGermany Forschungszentrum Informatik (FZI) Haid-und-Neu-Str.10-14 76137 Karlsruhe Germany State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Harbin China

ISBN: (纸本)9781424447749

Several practical issues associated with achieving effective impedance performance in the finger joint space and stable grasping on a five-fingered dexterous hand are investigated in this work. A Multiprocessor structure based on field programming gate array (FPGA) is proposed to realize the high-level hand impedance controller. The key feature of the hardware system is a dual-processor architecture based controller, one of which is used for data communication control and the other for joint and object level control. High speed (200μs cycle time) multipoint low-voltage differential signaling (LVDS) serial data bus communication between each finger and the controller, Ethernet communication between monitor PC and controller, are all implemented on a single FPGA chip. Experimental results and simulation with a five-figered dexterous robot hand demonstrate that the controller architecture is able to achieve the desired robot hand impedance control performance and effective stable grasping.

关键词： dexterous hand FPGA flexible communication system impedance control grasping

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Posture control of a dual-crawler-driven robot

Posture control of a dual-crawler-driven robot

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IEEE International Conference on robotics and Automation (ICRA)

作者： Qiquan Quan Shugen Ma Bin Li Rongqiang Liu Department of Robotics Ritsumeikan University Japan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China School of Mechatronics Engineering Harbin Institute of Technology China

This paper deals with a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is used as the power transmission device to give two different outputs with just one actuator. This under-actuated system could perform posture control through the interaction between the front and rear modules. On occasion, the posture that the front module is lifted up can make the robot overcome obstacles actively and easily. To find out the controllable postures, the static analysis of the robot has been conducted. In this paper, we provide the control strategy for performing the posture control, and propose the control methods including direct, indirect, and cooperative control to conduct the posture control. Experimental tests show the effectiveness of the control methods.

关键词： robotics and automation Crawlers Actuators Mobile robots Control systems Switches Gears Motion control Stability Automatic generation control

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Capillary Interactions between a Probe Tip and a Nanoparticle

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Chinese Physics Letters 2008年第5期25卷 1795-1798页

作者：孙立宁王乐锋荣伟彬 State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080

To understand capillary interactions between probe tips and nanoparticles under ambient conditions, a theoretical model of capillary forces between them is developed based on the geometric relations. It is found that the contribution of surface tension force to the total capillary force attains to similar order of magnitude as the capillary pressure force in many cases. It is also shown that the tip shape and the radial distance of the meniscus have great influence on the capillary force. The capillary force decreases with the increasing separation distances, and the variance of the contact angles may change the magnitudes of capillary forces several times at large radial distances. The applicability of the symmetric meniscus approximation is discussed.

关键词： ATOMIC-FORCE MICROSCOPE SURFACE NANOMANIPULATION STICTION MEMS

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Research on the mechanics of the HIT/DLR Hand II anthropomorphic five-finger dexterous hand

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harbin Gongcheng Daxue Xuebao/Journal of harbin Engineering University 2009年第2期30卷 171-177页

作者： Fan, Shao-Wei Liu, Yi-Wei Jin, Ming-He Lan, Tian Chen, Zhao-Peng Liu, Hong Zhao, Da-Wei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China German Aerospace Center Institute of Robotics and Mechatronic Munich 82230 Germany College of Automation Harbin Engineering University Harbin 150001 China

A new anthropomorphic robot with a five-finger dexterous hand-named HIT/DLR Hand II-was developed to make hand appearance and structural functions more anthropomorphic. The hand is composed of an independent palm and five identical modular fingers, and each finger has three degrees of freedom (DOF) and four joints. To meet the mechatronic idea, all actuators, drivers, and electronics were integrated in the fingers and the palm. By using a steel coupling mechanism, the distal phalanx transmission ratio was kept exactly 1:1 over the whole movement range. The packing mechanism which was implemented in the fingers and palm not only reduces the size of whole hand but also makes it more anthropomorphic. The finger size is about one third of the former finger in this innovative design. In additional, the newly designed force/torque and position sensors are well integrated with the hand. It was verified by experiments that the dexterous hand not only met design goals, but also exhibits great grasping capacity.

关键词： Anthropomorphic robots

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