The rapid development of the Integrated Circuit (IC) manufacturing equipment industry requires greater efficiency for wafer transfer. However, the faster wafer transfer robot moves, the bigger the force applied on its...
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The traditional drawing system based on the 2-D mouse can not realize the haptic interaction between operators and virtual environment. This is not available for operator to feel the interaction sensitivity. A virtual...
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Friction compensation and disturbance observer design in velocity loop for a high acceleration precision motion stage actuated by linear motor is considered. The friction compensator divides the friction into linear a...
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Simultaneous localization and mapping （SLAM） is a key technology for mobile robots operating under unknown environment. While FastSLAM algorithm is a popular solution to the SLAM problem, it suffers from two major d...
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Simultaneous localization and mapping （SLAM） is a key technology for mobile robots operating under unknown environment. While FastSLAM algorithm is a popular solution to the SLAM problem, it suffers from two major drawbacks： one is particle set degeneracy due to lack of observation information in proposal distribution design of the particle filter; the other is errors accumulation caused by linearization of the nonlinear robot motion model and the nonlinear environment observation model. For the purpose of overcoming the above problems, a new iterated sigma point FastSLAM （ISP-FastSLAM） algorithm is proposed. The main contribution of the algorithm lies in the utilization of iterated sigma point Kalman filter （ISPKF）, which minimizes statistical linearization error through Gaussian-Newton iteration, to design an optimal proposal distribution of the particle filter and to estimate the environment landmarks. On the basis of Rao-Blackwellized particle filter, the proposed ISP-FastSLAM algorithm is comprised by two main parts： in the first part, an iterated sigma point particle filter （ISPPF） to localize the robot is proposed, in which the proposal distribution is accurately estimated by the ISPKF; in the second part, a set of ISPKFs is used to estimate the environment landmarks. The simulation test of the proposed ISP-FastSLAM algorithm compared with FastSLAM2.0 algorithm and Unscented FastSLAM algorithm is carried out, and the performances of the three algorithms are compared. The simulation and comparing results show that the proposed ISP-FastSLAM outperforms other two algorithms both in accuracy and in robustness. The proposed algorithm provides reference for the optimization research of FastSLAM algorithm.
This article describes the initial design of a biomimetic cuttlefish robot. The robot has a similar streamlined shape as cuttlefish, propelled by the complex of the biomimetic undulatory level pectoral fin and the wat...
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In this paper, we constructed a three-dimensional dynamic simulator for HitMSR II which is a module self-reconfigurable robot system composed of single-rotational-freedom modules. Downhill Simplex Optimization Algorit...
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Traditional feedback linearization approach (TFL) requires a priori knowledge of plant, which is difficult and the computational efficiency of controller is low due to the complex dynamics of spatial 6-DOF hydraulic p...
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The manipulation of particles at the micro-scale is of great importance and challenge in the fields of electronics and bioengineering. A compound vibration adhesion control technique has been proposed in this article ...
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In recent years, the robot for minimally invasive surgery has been expanded for wide application in clinic. However, robot assisted surgery is quite different from traditional surgery, so the training and practice are...
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A compact nanopositioner which consists of three stick-slip inertial stages was designed and built particularly for nanomanipulation inside a scanning electron microscope (SEM). Considering linear dynamics of PZT and ...
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