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Optimal design of dynamic and control performance for planar manipulator

Journal of Central South University 2012年第1期19卷 108-116页

作者： YOU Wei KONG Min-xiu SUN Li-ning DU Zhi-jiang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

A design and optimization approach of dynamic and control performance for a two-DOF planar manipulator was *** the kinematic and dynamic analysis,several advantages of the mechanism were illustrated,which made it possible to obtain good dynamic and control performances just through mechanism *** on the idea of design for control(DFC),a novel kind of multi-objective optimization model was *** were three optimization objectives:the index of inertia,the index describing the dynamic coupling effects and the global condition *** indexes to characterize the designing requirements such as the velocity of end-effector,the workspace size,and the first mode natural frequency were regarded as the *** cross-section area and length of the linkages were chosen as the design ***-II algorithm was introduced to solve this complex multi-objective optimization *** criteria from engineering experience were incorporated into the selecting of final parameters among the obtained Pareto solution ***,experiments were performed to validate the linear dynamic structure and control performances of the optimized mechanisms.A new expression for measuring the dynamic coupling degree with clear physical meaning was *** results show that the optimized mechanism has an approximate decoupled dynamics structure,and each active joint can be regarded as a linear SISO *** control performances of the linear and nonlinear controllers were also *** can be concluded that the optimized mechanism can achieve good control performance only using a linear controller.

关键词： mechanism optimization dynamic optimization design for control multi-objective optimization

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A behavior-based planning algorithm for tracking of deep-sea hydrothermal buoyant plumes with autonomous underwater vehicles

A behavior-based planning algorithm for tracking of deep-sea...

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Chinese Control Conference (CCC)

作者： Yu Tian Aiqun Zhang Wei Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences 110016 China

Deep-sea hydrothermal plume tracing capability is important for autonomous underwater vehicles (AUVs) to efficiently perform hydrothermal vents prospecting missions. This paper addresses the hydrothermal buoyant plume tracing problem. Based on the nature of hydrothermal plumes, a moth-inspired strategy for the tracking of hydrothermal buoyant plumes in three dimensions is investigated. And a behavior-based planning algorithm that implements the strategy is designed, which consists of three behaviors, tracking, reacquiring, and declaring. The tracking behavior is to navigate an AUV to move toward the sea bottom when the plume is detected. The reacquiring behavior maneuvers the AUV in two-dimensional horizontal plane to find the plume if the plume is lost during the tracking. The declaring behavior is to estimate the vent's location when the AUV has tracked the plume to the vent. In addition, a mapping behavior is designed to collect the buoyant plume data above the vent after the vent has been localized, with which the vent's location could be accurately estimated and the adjacent vents could be found. The behavior-based planning algorithm is implemented on a developed simulation environment. The simulation results demonstrate that the presented algorithm is effective for navigating an AUV to track a hydrothermal buoyant plume in three dimensions to its vent and finally localize the vent accurately.

关键词： Vents Underwater vehicles Tracking Planning Algorithm design and analysis Electronic mail Navigation

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Research of force feedback and control based on catheter insertion robotic system

Research of force feedback and control based on catheter ins...

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Chinese Control Conference (CCC)

作者： Yanmin Li Hao Liu Jie Yan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences 110016 China

Lack of distal force feedback of catheter insertion robotic system makes it difficult for doctors to perceive the force between catheter and tissue and results in complications even perforation or death. This paper assembled force sensor array which was manufacture by pressure sensitive rubber on the tip of catheter and mapped the three-dimension force to master handle, so the doctors could sense the distal force actually. Impedance control was introduced to control the distal force and to guarantee the safety of interventional procedure. Simulation result showed the impedance control method could limit the distal force of catheter to expectations effectively.

关键词： Catheters Electronic mail Force Robot sensing systems Force feedback Automation

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Adaptive visual servoing using common image features with unknown geometric parameters

Adaptive visual servoing using common image features with un...

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作者： Liu, Yun-Hui Wang, Hesheng Chen, Weidong Zhou, Dongxiang Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China State Key Laboratory of Robotics Technology and System Harbin Institute of Technology Harbin 150001 China Joint Center for Intelligent Sensing and Systems National University of Defense Technology China

This paper generalizes the concept of the depth-independent interaction matrix, developed for point and line features in our early work, to generalized image features. We derive the conditions under which the depth-independent interaction matrix can be linearly parameterized by the geometric parameters of the generalized image features, and propose an adaptive visual servo controller for robot manipulators using the generalized image features whose geometric parameters are unknown. To estimate the unknown parameters on-line, we propose new error functions that are linear to estimation errors of the parameters and an algorithm that minimizes the error functions using multiple images. The Lyapunov theory is used to prove asymptotic stability of the proposed controller based on the nonlinear dynamics of the manipulator. It is also shown that in addition to points and lines, other common image features like distances, angles, areas, and centroids all satisfy the conditions for the linear parameterization. Experiments have been conducted to validate the proposed control method. © 2013 Elsevier Ltd. All rights reserved.

关键词： Controllers

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Hierarchy organization model based on the logic of tasks

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2012 International Conference on Engineering Materials, Geotechnical Engineering and Environmental Engineering, EMGEEE 2012

作者： Yu, Cen Zhou, Weijia University of Chinese Academy of Sciences Beijing 100049 China Shenyang Institute of Automation Chinese Academy of Sciences State key Laboratory of Robotics Nanta Street 114# Shenyang Liaoning Province 110016E China

ISBN: (纸本)9783037856697

Hierarchy organization is suitable for multi-robot system application. Robot or collaborative robots group is considered as an agent, then the organization model consists of agents and the relations between them. This paper introduces the logic of tasks combined with description logic to construct logic system L" According to related works [4], we can prove L" is decidable, complete and sound. Based on the logic system L" author presented a formal task-oriented hierarchy organization model that can deduce a plan with a strategy can complete task or not. © (2013) Trans Tech Publications, Switzerland.

关键词： Multipurpose robots

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Pose estimation based on laser range finder for a quadrotor unmanned aerial vehicle in GPS-denied environment

Pose estimation based on laser range finder for a quadrotor ...

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32nd Chinese Control Conference, CCC 2013

作者： Gu, Xun Xian, Bin Guo, Fang Zhang, Yao Zhang, Xu Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control Tianjin University Tianjin 300072 China

ISBN: (纸本)9789881563835

The feedback of position and attitude information are important for the autonomous control of a quadrotor unmanned aerial vehicle (UAV). But in the GPS-denied environments, it is hard to obtain the quadrotor UAV's position. The pose estimation problem for a quadrotor UAV is addressed in this paper. A miniature laser range finder and a miniature attitude heading reference system (AHRS) unit are employed as the main onboard sensors. And a new pose estimation algorithm is developed to provide accurate estimation for the UAV's position and attitude which can be utilized for the flight controller in the GPS-denied environments. © 2013 TCCT, CAA.

关键词： Global positioning system

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Establishing dynamic model for mobile CARM

Establishing dynamic model for mobile CARM

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2013 IEEE International Conference on Information and Automation, ICIA 2013

作者： Song, Guoli Han, Jianda Zhao, Yiwen Chen, Chen State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China University of Chinese Academy of Sciences Beijing 100049 China School of Mechanical Engineering Yanshan University Qinhuangdao 066004 China

ISBN: (纸本)9781479913343

Mobile CARM is a more and more important device for spine surgery navigation. The accuracy of the intraoperative image has a huge influence on the surgery success rate. For the purposes to achieve the surgery, the image capture device should be modeled by an accurate method. This paper describes the problems of establishing the CARM model. By analysis the structure of the mobile CARM, we establish the static model of the CARM. Next by kinematics analysis, we establish the dynamic model which could guarantee the accuracy of the CARM. Last we confirm the deviation of CARM images. © 2013 IEEE.

关键词： Surgery

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Differentiated Time-frequency Characteristics Based Real-time Motion Decoding for Lower Extremity Rehabilitation Exoskeleton Robot

Differentiated Time-frequency Characteristics Based Real-tim...

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上海交通大学第16期博士生学术论坛——机械百年·智能制造·智造中国学术论坛

作者： Yuanjie Fan The State Key Laboratory of Mechanical System and Vibration the Robotics Institute Shanghai Jiao Tong University Dongchuan Rd.800 200240 Shanghai China

Decode the human motion intension precisely in real time is the key problem in coordinated control of the lower extremity *** this research, the relationship between frequency characteristics of sEMG (surface electromyographic) and muscle contraction is established in real time according to the biomechanism of skeletal muscle;DPSE (Differentiated Power Spectrum Estimation) method is applied to extract frequency characteristics from sEMG precisely and quickly;offset compensation is added to prevent noise disturbance during feature extracting of the sEMG with lower SNR (signal-to-noise ratio).Corresponding experiments on knee joint are conducted by prototype exoskeleton *** (EMG Biofeedback therapy) based on force and haptic is applied as information *** show the human-machine interface can decode human motion intension and assist or resist movement of the wearer in real-time.

关键词： Differentiated power spectrum estimation skeletal muscle contraction rehabilitation exoskeleton Human-machine interface

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Structure design optimization of micro/nano angular-table with S-shape compliant structure

Structure design optimization of micro/nano angular-table wi...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Mahmoud Helal Weibin Rong Lininig Sun Production and Mechanical Design Dept. Mansoura University Mansoura EGYPT State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin CHINA

Micro-electromechanical systems is a rapidly growing field that will permeate our everyday lives in the coming decades. Recently, the evolution in microelectronics of combining mechanical and electrical functions has brought about an exciting new field micro/nano-electro-mechanical system. Compliant mechanisms can play an important role in the design of micro-devices for micro-electro-mechanical systems applications. Compliant mechanism is flexible structures that generate desired motion by undergoing elastic deformations. The concept of structural optimization has been more and more widely accepted in many engineering fields. The structural optimization can result in a much more reasonable and economical structure design. In this investigation, structure optimization is applied for designing two-dimensional micro/nano angular-table compliant mechanism. The interface between Malab and Ansys were shown to obtain the optimal shape of the compliant mechanism. Structure design optimization of the two-dimension micro/nano angular-table with S-shape compliant structure was shown and all results are illustrated.

关键词： Manufacturing processes Finite element analysis Micromechanical devices Mathematical model Design optimization Shape

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CPG Control for Biped Hopping Robot in Unpredictable Environment

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Journal of Bionic Engineering 2012年第1期9卷 29-38页

作者： Tingting Wang Wei Guo Mantian Li Fusheng Zha Lining Sun State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080P.R.China

A CPG control mechanism is proposed for hopping motion control of biped robot in unpredictable environment. Based on analysis of robot motion and biological observation of animal＇s control mechanism, the motion control task is divided into two simple parts： motion sequence control and output force control. Inspired by a two-level CPG model, a two-level CPG control mechanism is constructed to coordinate the drivers of robot joint, while various feedback information are introduced into the control mechanism. Interneurons within the control mechanism are modeled to generate motion rhythm and pattern promptly for motion sequence control; motoneurons are modeled to control output forces of joint drivers in real time according to feedbacks. The control system can perceive changes caused by unknown perturbations and environment changes according to feedback information, and adapt to unpredictable environment by adjusting outputs of neurons. The control mechanism is applied to a biped hopping robot in unpredictable environment on simulation platform, and stable adaptive motions are obtained.

关键词： biped robot unpredictable environment hopping motion control bionic control CPG

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