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An automatic dynamics generation method for reconfigurable modular robot

An automatic dynamics generation method for reconfigurable m...

引用

2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2012

作者： Gao, Wenbin Wang, Hongguang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences 110016 Shenyang China Graduate School of Chinese Academy of Sciences 100049 Beijing China

ISBN: (纸本)9781447141402

A method of automatic dynamics generation for modular robots is presented on modular level. The robot's link parameters are got from the modules' parameters and the Assemble Incidence Matrix (AIM) describing the module types, assembled orientations and sequence of a given robot configuration. Adjoint matrices are adopted to describe the forward mapping of velocities, accelerations from frames on the (i-1) link to that of the ith link, as well as the dual adjoint matrices are taken to describe the backward mapping of moments and forces between frames on the i and the (i-1)th links. A mathematically consistent recursive approach for dynamics of modular robot is got from the Newton-Euler formula in Lie Group form. © Springer-Verlag London 2012.

关键词： Dynamics

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Task-based configuration synthesis for modular robot

Task-based configuration synthesis for modular robot

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Gao, Wenbin Wang, Hongguang Jiang, Yong Pan, Xinan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate School Chinese Academy of Sciences Beijing 100049 China

ISBN: (纸本)9781467312776

A modular robot system is introduced in this paper. The requirements for configuration synthesis are analyzed and classified as hard ones, soft ones and hard-soft ones. The evaluation function is constructed based on the weighted sum of the evaluation results of the specified design requirements. A one-lever Genetic Algorithm (GA) basing on an improved hybrid coding method is presented to carry out the configuration synthesis. In addition an example is given to demonstrate the effectiveness of this method. © 2012 IEEE.

关键词： Genetic algorithms

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The research of mechanical and electrical integration linear output transmission system with sensor function

The research of mechanical and electrical integration linear...

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2012 International Conference on Mechanical and Electronic Engineering, ICMEE 2012

作者： Liu, Yuwang Leng, Yuquan Luo, Haitao Zhou, Weijia State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate School of the Chinese Academy of Sciences Beijing 100039 China

ISBN: (纸本)9783642315152

With the further theory research and engineering application, the study of the small electro-mechanical systems, with movement conversion, motion transmission, force/torque transmission and sensor function, becomes popular. The new highly integrated mechanical and electrical integration linear output sensor system is designed in this paper, to solve the problems of movement conversion/transmission, force transmission/measurement etc, and further theory study is also presented. The function of sensing parameters and transmission parameters is deduced and the key parameters of system design and the constrained conditions are shown. Then, the result of simulated experiment that made in allusion to the model was compared with the theory speculation, accordingly, validated the accuracy of the theory. © 2012 Springer-Verlag Berlin Heidelberg.

关键词： Integration

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Finite element modal analysis of the FPD glass substrates handling robot

Finite element modal analysis of the FPD glass substrates ha...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Cheng, Li Wang, Hongguang State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang Liaoning Province China College of Mechanical Engineering Shenyang University Shenyang Liaoning Province China

ISBN: (纸本)9781467312776

A planar multi-joint handling robot for FPD (Flat Panel Display) glass substrates with heavy load and high precision is introduced. In order to investigate the vibration characteristics of this robot, finite element modal analysis with Solidworks simulation is presented. First of all, the mechanical structure of the new generation FPD glass substrates handling robot is introduced. Then, the finite element model is established and the modal analysis procedure is introduced in detail. In a given typical configuration, the first 10th natural frequencies and corresponding mode shapes of the robot are obtained. Based on the calculation results, relative weak parts of vibration for the robot are pointed and the improving suggestions are put forward. Furthermore, the natural frequencies of the key components are analyzed and the modal matching analysis is given. The analysis results indicate that the modal distribution of the mechanical structure of this new generation FPD glass substrates handling robot is reasonable. © 2012 IEEE.

关键词： Finite element method

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A model reference adaptive PID control for electromagnetic actuated micro-positioning stage

A model reference adaptive PID control for electromagnetic a...

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2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012

作者： Xiao, Shunli Li, Yangmin Liu, Jinguo Department of Electromechanical Engineering University of Macau Taipa 999078 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

ISBN: (纸本)9781467304283

This paper presents a model reference adaptive PID controller for controlling a novel compliant flexures-based XY micro-positioning stage driven by electromagnetic actuators. The stage is specially designed by employing double four-bar parallelogram flexures and four non-contact electromagnetic force actuators to realize the kinematic decoupling and force decoupling respectively. Based on preliminary open loop experiments and simple PID controller based close-loop experiments, we found that the system is with typical hysteresis and nonlinear characteristics. As model reference adaptive control techniques possess great advantages to tackle robustness issues of nonlinear and model uncertainty systems, it is designed and adopted to control the micro-manipulator system. At first, a model reference adaptive PID controller design process is introduced. Then control parameters are systematically tuned based on intuitive desired performance and robustness. At last, experimental results verify the process for controlling the micro-positioning stage, which shows that the adopted controller can drive the mobile stage to track the desired reference path exactly. © 2012 IEEE.

关键词： Three term control systems

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Rotorcraft UAV actuator failure detection based on a new Adaptive Set-Membership Filter

Rotorcraft UAV actuator failure detection based on a new Ada...

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5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Wu, Chong Song, Dalei Qi, Juntong Han, Jianda State Key Laboratory of Robotics Shenyang Institute and Automation Chinese Academy of Sciences Shenyang 110016 China Graduate School of the Chinese Academy of Sciences Beijing 100080 China

ISBN: (纸本)9783642335082

Actuator failure detection method based on a new Adaptive Extended Set-Membership Filter (AESMF) is proposed for Rotorcraft Unmanned Aerial Vehicle (RUAV). The AEMSF proposed in this paper is based on MIT method to optimize the set boundaries of process noises which may be incorrect in modeling or time-variant in operation;estimation stability and boundaries accuracy can be improved compared to the conventional ESMF. Actuator Healthy Coefficients (AHCs) is introduced into the dynamics of RUAV to denote the actuator failure model. Based on AESMF, online estimation of the AHCs can be obtained along with the flight state. With the estimated AHCs, actuator failure can be detected as soon as possible which provide valuable information for fault tolerant control. Efficiency and improvement of this method compared with other online parameters estimation methods is demonstrated by simulation using ServoHeli-20 model. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Actuators

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Two-Dimensional Direction of Arrival Estimation Method for A Mixture of Noncoherent and Coherent Narrowband Signals

Two-Dimensional Direction of Arrival Estimation Method for A...

引用

IEEE Workshop on Signal Processing Advances in Wireless Communications

作者： Hao Tao Jingmin Xin Jiasong Wang Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an 710049 China State Key Laboratory of Astronautic Dynamics Xi'an 710043 China Xi'an Jiaotong University Suzhou Academy Suzhou 215123 China Department of System Design Engineering Keio University Yokohama 223-8522 Japan

ISBN: (纸本)9781467355766

In this paper, we investigate the two-dimensional (2-D) direction-of-arrivals (DOAs) estimation of a mixture of non-coherent (including uncorrelated and correlated) and coherent narrowband signals impinging on a simple structured planar array consist of two parallel uniform linear arrays (ULAs), and a new oblique projection based method is proposed for estimating the DOAs of these mixed incident signals, where the computationally intensive eigendecomposition is avoided. In the proposed method, the 2-D DOAs of noncoherent and coherent signals are estimated separately, while the difficulties such as the separation of the noncoherent and coherent signals and the automatic pairing of the azimuth and elevation angles of same signal are overcame. Furthermore for overcoming the "saturation" problem encountered in estimation of coherent signals, an iterative alternate scheme is presented. The theoretical analysis and simulation results confirm the effectiveness of proposed method.

关键词： Direction Arrival Estimation

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A brief survey on inflatable deployment space structures' research and development

A brief survey on inflatable deployment space structures' re...

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2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2012

作者： Liu, Jinguo Sun, Shufeng State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences 110016 Shenyang China School of Mechanical Engineering Shenyang Ligong University 110000 Shenyang China

ISBN: (纸本)9781447141402

Deployable structures are widely used in a variety of space spacecrafts and planetary detectors. Under the size and cost limitations of space transportation system, deployable structure usually requires large contraction ratio and high reliability, therefore, development of deployable structures faces a series of theoretical and technical challenges. Space inflatable structure is a key area in space mechanism's research. Compared to mechanically deployable structures, space inflatable structures have several unique advantages such as much lighter weight, higher packaging efficiency, lower life-cycle costs, simpler design with fewer parts, and higher deployment reliability. Inflatable structures with its irreplaceable advantages had attracted a lot of attentions during the past decades. This paper presents of a brief review of inflatable deployment space structures with stresses on their recent development and applications. © Springer-Verlag London 2012.

关键词： Inflatable structures

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SEMG control of an upper limb rehabilitation robot based on boosting of neural networks

SEMG control of an upper limb rehabilitation robot based on ...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Li, Qingling Song, Yu School of Mechanical Electronic and Information Engineering China University of Mining and Technology Beijing China State Key Laboratory of Robotics and System of HIT Harbin Institute of Technology Harbin China School of Electronic and Information Engineering Beijing Jiaotong University Beijing China

ISBN: (纸本)9781467312776

This paper presents a surface electromyography (sEMG) control strategy for robot-assisted upper limb rehabilitation after stroke which can make the rehabilitation robot follow the patient's intention. A new method for feature extraction is proposed aiming at non-stationary feature of sEMG firstly. And then, an ensemble classification method based on BP base classifier is brought forward to discriminate upper limb motions. Experimental results verify that the feature extraction method is superior to traditional ones with respect to recognition rate and convergence speed of classifier, and the ensemble classifier have stronger generalization ability and higher recognition accuracy than single neural network classifier. © 2012 IEEE.

关键词： Feature extraction

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Square-root cubature FastSLAM algorithm for mobile robot simultaneous localization and mapping

Square-root cubature FastSLAM algorithm for mobile robot sim...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Song, Yu Li, Qingling Kang, Yifei Yan, Deli School of Electronic and Information Engineering Beijing Jiaotong University Beijing China State Key Laboratory of Robotics and System of HIT Harbin Institute of Technology Harbin China School of Mechanical Electronic and Information Engineering China University of Mining and Technology Beijing China

ISBN: (纸本)9781467312776

In this paper, we derive a new SRCFastSLAM algorithm to SLAM problem, which is the square-root edition of our previously proposed Cubature FastSLAM. The main contribution lies that: 1) in SRCFastSLAM, the particles for SLAM implementation are assembled by means and covariance square-root factors (rather than covariances) of the robot state and the feature landmarks;2) Due to the covariance square-root factors are directly propagated in our SLAM process, the time-expensive Cholesky decompositions on covariance matrixes are avoided, also the symmetry and positive (semi) definiteness of the covariance matrixes are preserved. The performance of the proposed algorithm is investigated and compared with FastSLAM2.0 and UFastSLAM using a serial simulation. Results show that the proposed SRCFastSLAM outperforms FastSLAM2.0 and UFastSLAM in precision and reduces the computational cost of the CFastSLAM obviously. © 2012 IEEE.

关键词： robotics

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