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Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

Frontiers of Mechanical Engineering 2021年第3期16卷 435-450页

作者： Boyu MA Zongwu XIE Zainan JIANG Hong LIU School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Seven-degree-of-freedom redundant manipulators with link offset have many advantages,including obvious geometric significance and suitability for configuration *** configuration is similar to that of the experimental module manipulator(EMM)in the Chinese Space Station Remote Manipulator ***,finding the analytical solution of an EMM on the basis of arm angle parameterization is *** study proposes a high-precision,semi-analytical inverse method for ***,the analytical inverse kinematic solution is established based on joint angle ***,the analytical inverse kinematic solution for a non-offset spherical-roll-spherical(SRS)redundant manipulator is derived based on arm angle *** approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS ***,the error is corrected using a numerical method through the analytical inverse solution based on joint angle *** selecting the stride and termination condition,the precise inverse solution is computed for the EMM based on arm angle ***,case solutions confirm that this method has high precision,and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.

关键词： 7-DOF redundant manipulator inverse kinematics semi-analytical arm angle link offset

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Saliency-SLAM: Saliency Prediction for Visual SLAM

Saliency-SLAM: Saliency Prediction for Visual SLAM

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2023 Tianjin University-IET Electrical and Information Engineering Doctoral Forum, TJU IET 2023

作者： Jin, Sheng Meng, Qinghao Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin University Tianjin China

ISBN: (纸本)9781839539824

This paper proposes a novel approach for visual simultaneous localization and mapping (vSLAM), called Saliency-SLAM. This method effectively emulates the visual attention mechanism by integrating a saliency prediction model. In contrast to conventional vSLAM methods, which treat all feature points as equally significant, salient feature points are given greater importance in Saliency-SLAM. Therefore, we construct a novel saliency dataset specifically for vSLAM task to train a saliency prediction model by integrating multi-level visual information. Then, we propose to use the salient value of predicted result as the weight of significance for the feature points during the optimization process. Exhaustive experiments have been conducted on the KITTI dataset, demonstrating that our proposed method outperforms existing approaches in terms of localization accuracy. © The Institution of Engineering & Technology 2023.

关键词： Forecasting

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Multi-Agent Distributed Cooperation Decision Making Based on Incomplete Information Prediction 41

Multi-Agent Distributed Cooperation Decision Making Based on...

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第41届中国控制会议

作者： Hongda Zhang Decai Li Yuqing He State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In order to solve the problem of difficulty in learning cooperative strategies and decision-making of multi-agent caused by the incomplete information and the inability to guarantee stable communication in the partial observable multi-agent adversarial environment,inspired by the learning and reasoning functions of the human cerebral cortex through memory,a new multi-agent distributed cooperative strategy learning method based on incomplete information prediction in a partially observable adversarial environment is *** the use of historical memory and current observation information,support vector regression(S VR) is used to predict invisible information in the environment,and the prediction information o f the unobserved part and the observed information are fused as the basis for cooperative strategy learning and ***,through the use of decentralized multi-agent reinforcement learning method for cooperative strategy learning,the decision model of each agent in the team is *** method is verified by multi-agent cooperative strategy learning and decision-making in a typical partial observable adversarial *** results show that this method can significantly improve the level of multi-agent cooperative decision-making while ensuring high prediction accuracy for unobserved parts.

关键词： Multi-agent cooperation partial observable information prediction distributed cooperative decision-making adversarial environment

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Research on SLAM Dynamic Target Removal Method Based on Convolutional Neural Network 2

Research on SLAM Dynamic Target Removal Method Based on Conv...

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2nd International Conference on Signal Processing and Intelligent Computing, SPIC 2024

作者： Qin, Lijuan Wang, Xiaohan Ma, Zeqi Wang, Ting Shenyang Ligong University School of Information Science and Engineering Shenyang China Chinese Academy of Science State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China

ISBN: (纸本)9798350368888

Integrating object detection into the ORB-SLAM2 system, using object detection algorithms to annotate objects with motion attributes in the environment, and then relying solely on the keyframes of static objects for map construction, can effectively remove the impact of dynamic objects on semantic map construction. This article uses YOLO4 for dynamic object detection in SLAM system, and uses this object detection algorithm to remove dynamic objects from environment. Simulation experiment shows that 3D semantic map effect of dynamic object removal is good. It is of great significance to increase perception ability of mobile robots to environment. © 2024 IEEE.

关键词： Convolutional neural networks

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A novel design of force-feedback master manipulator for remote ultrasound scanning

A novel design of force-feedback master manipulator for remo...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Li, Changle Zhang, Chentao Yu, Chuan You Zhang, Leifeng Liu, Gangfeng Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System No.2 YiKuang Street NanGang District Harbin HeiLongJiang China

ISBN: (纸本)9781665481090

This paper presents a novel six-degree-of-freedom force feedback master manipulator for remote ultrasound scanning. Firstly, a new configuration based on a planar five-link mechanism is proposed, taking into account the practical needs of medical ultrasound scanning. This configuration has two operating modes and can provide three degrees of force feedback. Secondly, a hybrid force/position master-slave control system based on the kinetic model force feedback method is built, which can realize incremental master-slave control, variable proportional control, force feedback, and other functions. Finally, the positional accuracy, gravity balance effect, and force feedback performance of this master manipulator are verified through experiments. Experiments show that the average position error of this novel force feedback master manipulator is 1.18 mm, the average attitude error expressed in terms of Euler angles is 0.83°, and the maximum feedback force that can be provided is 12.1 N, which satisfies the requirements of ultrasonic scanning. © 2022 IEEE.

关键词： Feedback

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Research on Surface Defect Detection Technology of Long-Distance and Long-Span FAST Cable

Research on Surface Defect Detection Technology of Long-Dist...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Xin Tong Xuehe Zhang Gangfeng Liu Changle Li Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Aiming at the problems of large cable span, small number of defect samples and complex background environment in the FAST cable defect detection task, a set of real-time defect detection algorithms based on convolutional neural network is proposed to realize the accurate location and classification of defects. It can achieve a good detection effect for defects with multiple angles and sizes, especially suitable for medium and long distances. The algorithm is verified on the dataset, and its recognition accuracy can reach 91.7%. Equipped on the hardware inference platform, it fully meets the efficiency and accuracy requirements of FAST cable inspection site, can be used in actual cable quality inspection tasks, and can be widely promoted to real-time defect detection of various high-altitude hanging cables.

关键词： Mechatronics Simulation Inspection Real-time systems Inference algorithms Hardware Convolutional neural networks

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Traffic Police Gesture Command Recognition Based on Convolutional Neural Network AlexNet 2

Traffic Police Gesture Command Recognition Based on Convolut...

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2nd International Conference on Signal Processing and Intelligent Computing, SPIC 2024

作者： Qin, Lijuan Wang, Shiyi Shenyang Ligong University School of Information Science and Engineering Shenyang China Chinese Academy of Science State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China

ISBN: (纸本)9798350368888

Traffic police gesture signal recognition is of great significance in traffic management and urban intelligent transportation system, this paper researches the automatic recognition technology of traffic police command gesture signal based on the deep learning method, in the process of model training, the training set is used to train AlexNet, and the model is evaluated by the test set. The experimental results show that the model achieves high accuracy in the recognition of traffic police gesture signals. Finally, based on the trained model, a traffic police gesture signal recognition system is designed in MATLAB platform to realize the gesture signal recognition function on local images. The system can be used as a practical application tool for gesture signal recognition in traffic management, providing support for improving the efficiency and safety of urban traffic command. © 2024 IEEE.

关键词： Deep learning

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Research on Active Disturbance Rejection Control of PMSM Based on Improved BOA 2

Research on Active Disturbance Rejection Control of PMSM Bas...

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2nd International Conference on Signal Processing and Intelligent Computing, SPIC 2024

作者： Chen, Tong Jiang, Qiang Jin, Bopi Yang, ShengXuan Shenyang Ligong University School of Automation and Electrical Engineering Shenyang China Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China

ISBN: (纸本)9798350368888

In order to solve the problems of low control accuracy, poor anti-interference ability and poor robustness due to the interference and parameter changes of the servo system of permanent magnet synchronous motor (PMSM) under PI control, an improved active disturbance rejection control strategy is proposed. On the basis of linearisation and bandwidth of the extended state observer, the controller parameters are combined with the bandwidth in the project. Furthermore, to improve the parameter optimization tuning effect, the butterfly optimization algorithm is not high in convergence accuracy, speed and stationarity, and it is easy to avoid falling into the problem of local optimum, the reverse learning strategy, Cauchy variation and sine and cosine guidance mechanism are introduced to optimise the algorithm, and simulation experiments are carried out. The results show that compared with the traditional Proportion Integral(PI) control and active disturbance rejection control, the proposed method can quickly track a given speed, has higher control speed, and can be used to control the local optimum. The results show that compared with the traditional PI control and active disturbance rejection control, the proposed method can quickly track a given speed, has higher control accuracy and anti-interference ability, and effectively ensures the robustness of the PMSM servo system. © 2024 IEEE.

关键词： Permanent magnets

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A Novel Approach for Solving Time-Varying Linear Equations and Its Application in Motion Tracking of Redundant Robots

A Novel Approach for Solving Time-Varying Linear Equations a...

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Frontiers of robotics and Software Engineering (FRSE), International Conference on

作者： Hong Yin Hongzhe Jin Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Solving time-varying linear equations is a common problem in many fields. In this article, a novel approach is proposed based on the cost function constructed by the mixed error, which is made up of the residual error and its integration. The merits of the novel approach include high accuracy, noise immunity, and asymptotic convergence. Since the derivative information of time-varying signals is used in the proposed method, a proportional-integral differentiator is designed based on the mixed estimation error for the first derivative estimation. The proposed differentiator has a high degree of precision, asymptotic convergence, and no chattering. In addition, theoretical analyses prove the convergence of the proposed optimal strategy and differentiator. Simulation results validate the effectiveness and superiority of the proposed strategy and the designed differentiator. Finally, the proposed approach is employed in the motion tracking of redundant robots.

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A Kinematic Decoupling Whole-body Control Method for a Mobile Humanoid Upper Body Robot

A Kinematic Decoupling Whole-body Control Method for a Mobil...

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Frontiers of robotics and Software Engineering (FRSE), International Conference on

作者： Fengjia Ju Hongzhe Jin Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

The mobile humanoid upper body robot combines the humanoid upper body robot with the mobile platform. It has high redundancy and can complete complex tasks. However, coupling joints, including the waist joints and the mobile platform, exist in the configuration of the robot. During the task execution, the motion of the end-effectors on the dual arms are not independent, but interfere with each other through the motion of the waist and the mobile platform. Therefore, we need to decouple the waist and mobile platform from the dual arms. Based on the pseudo-inverse method of the redundant manipulators, we consider the motion of the coupling joints as a disturbance term and propose a kinematic decoupling whole-body control method. The method realizes the decoupling and cooperation of dual arms, avoids the interference of the inverse kinematics model of the dual arms, and fully releases the application potential of the high redundancy. The decoupling method allows the waist joints and the mobile platform to move randomly without affecting the task operation at the end-effectors, and to further plan their movements separately in order to smooth the whole body motion. The simulations on the mobile humanoid upper body robot verifies our method.

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