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Forward kinematics analysis of parallel manipulator using modified global Newton-Raphson method

Journal of Central South University 2010年第6期17卷 1264-1270页

作者：杨炽夫郑淑涛靳军朱思斌韩俊伟 State Key Laboratory of Robotics and System Har bin Institute of Technology

In order to obtain direct solutions of parallel manipulator without divergence in real time,a modified global Newton-Raphson(MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom(DOF) parallel *** on geometrical frame of parallel manipulator,the highly nonlinear equations of kinematics were derived using analytical *** MGNR algorithm was developed for the nonlinear equations based on Tailor expansion and Newton-Raphson *** procedure of MGNR algorithm was programmed in Matlab/Simulink and compiled to a real-time computer with Microsoft visual *** for *** performance of the MGNR algorithms for 6-DOF parallel manipulator was analyzed and *** the MGNR algorithm,the real generalized pose of moving platform is solved by using the set of given positions of *** theoretical analysis and numerical results indicate that the presented method can achieve the numerical convergent solution in less than 1 ms with high accuracy(1×10-9 m in linear motion and 1×10-9 rad in angular motion),even the initial guess value is far from the root.

关键词： parallel manipulator forward kinematics global Newton-Raphson real-time system

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An asymmetric PI hysteresis model for piezoceramics in nanoscale AFM imaging

An asymmetric PI hysteresis model for piezoceramics in nanos...

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6th IEEE International Conference on Nano/Micro Engineered and Molecular systems, NEMS 2011

作者： Wang, Dong Dong, Zaili Jiao, Niandong Yuan, Shuai Zhou, Lei Li, Wen J. State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate University Chinese Academy of Sciences Beijing China Centre for Micro and Nano Systems Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9781612847757

A modified Prandtl-Ishlinskii (PI) model, referred to as an asymmetric PI model, is implemented to reduce the displacement error between the model and the actual trajectory of a piezoceramic actuator used for AFM-based nanoscale imaging. The fact that the standard PI model is symmetric, while the actual hysteresis loop of a piezoceramic actuator is asymmetric, assures scanning errors if the standard PI operator is used. In order to improve the accuracy of the model, instead of using the same slope values in the entire PI model, different slope values to describe the forward loop (voltage increase) and the backward loop (voltage decrease) is proposed. The accuracy of the asymmetric PI model is validated on a custom-built AFM by comparing the experimental results derived from it with the results for the standard PI model. © 2011 IEEE.

关键词： Hysteresis

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Target object identification and localization in mobile manipulations

Target object identification and localization in mobile mani...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Jiang, Yong Xi, Ning Zhang, Qin Jia, Yunyi Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang 110016 China Mechatronic Engineering Beijing University of Posts and Telecommunications Beijing 100876 China

ISBN: (纸本)9781457721373

How to make mobile manipulator autonomously identify and locate target object in unknown environment, this is a very challenging question. In this paper, a multi-sensor fusion method based on camera and laser range finder (LRF) for mobile manipulations is proposed. Although the camera can acquire rich perceptual information, the image processing is very complex and easily influenced from the change in ambient light. Moreover, it can not directly provide the depth information of the environment. Since the LRF has the ability to directly measure 3D coordinates and the stability against the ambient light influence, meanwhile, the camera has the ability to acquire color information, the combination of the two sensors by making use of their advantages is utilized to obtain more accurate measurements as well as to simplify information processing. To overlay the camera image with the measurement points of the LRF pitching scan and to reconstruct the 3D image which includes the depth-of-field information, the model and the calibration of the system are built. Based on the combination of the color features extracted from the color image and the shape, size features extracted from the 3D depth-of-field image, the target object identification and localization are implemented autonomously. In order to extract the shape and size features, a triangular facet normal vector clustering (TFNVC) algorithm is introduced. The effectiveness of the proposed method and algorithm are validated by some experimental testing and analysis carried out on the mobile manipulator platform. © 2011 IEEE.

关键词： Cameras

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Robust control of gantry crane system with hoisting:A new solution based on wave motion

Robust control of gantry crane system with hoisting:A new so...

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2011年中国智能自动化学术会议

作者：杨唐文秦勇韩建达 Institute of Information Science Beijing Jiaotong University State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University State Key Laboratory of Robotics Shenyang Institute of Automation

Large load swing of a gantry crane,due to cable flexibility and rapid movement,needs to be ***,a wave-based approach interprets the cable motion as two superposed traveling *** combine position and active swing control, the trolley motion and load hoisting are carefully designed here,and a practical approach is adopted to design hoisting motions in the upward and downward manoeuvres,counteracting their reverse effects on the load swing.A robust control algorithm,based on the model of the crane system,is proposed to realize the trolley and hoisting motions,allowing for load variations and parameter *** new solution to motion control of a gantry crane works very well,and is stable and adaptive to large load *** demonstrated in the simulation experiments,it lands the load rapidly and exactly at target and stops it dead,with nearly zero swing.

关键词： gantry crane systems robust control hoisting mechanical wave concepts

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The Analysis on Period Doubling Gait and Chaotic Gait of the Compass-Gait Biped Model

The Analysis on Period Doubling Gait and Chaotic Gait of the...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Jie Zhao Xiaoguang Wu Xizhe Zang Yanhe Zhu Lei Zhu State Key Laboratory of Robotics and System Science Garden of HITNO.2Street YiKuangDistrict NanGangHarbinChina. 150080

The passive dynamic walking model, which can only depend on the gravity and its own inertia, presents stable, high-efficient, natural periodic gait on a slight slope. The stable periodic gait of the robot has a delicate balance of energy conversion, which makes the gait adjust itself as the parameters of the model change. In our work, the cell mapping method is combined with Newton-Raphson iteration to obtain the limit cycle of the periodic gait in the model, the track stability of the limit cycle is analyzed, and the eigenvalues change rule of Poincaré Jacobi matrix is deduced. The influence of changing parameters on the gait is analyzed and discussed by simulations on the model with different sets of parameters. The result suggests that, the location of the center of leg mass too high or too low, foot radius increase or decrease, the slope or moment of inertia increase, will lead to the occurrence of bifurcation of the gait period and chaos;while the way the gait enters chaos from period doubling bifurcation, which results from different parameters change, obeys the law all the period doubling bifurcation share, that is, it has the same Feigenbaum constant. Furthermore, the dynamic features of the robot at the entrance of the chaos are obtained by the rule of the period doubling bifurcation of the gait;meanwhile, it can be found by the analysis of the gait features in the chaos area that there is also certain periodic law in the chaotic gait.

关键词： Bifurcation Legged locomotion Chaos Leg Jacobian matrices Eigenvalues and eigenfunctions

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Towards automated micro-/nano-scale manipulation, separation, assembly, and fabrication by optically-induced dielectrophoresis

Towards automated micro-/nano-scale manipulation, separation...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Wang, Shue Liang, Wenfeng Qu, Yanli Dong, Zaili Lee, Vincent G. B Li, Wen J. State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate University Chinese Academy of Sciences Beijing China National Tsing Hua University Hsinchu Taiwan City University of Hong Kong Kowloon Hong Kong

ISBN: (纸本)9781457721373

We have developed a simple, inexpensive and flexible method to automatically manipulate and assemble micro-/nano-entities using optically-induced dielectrophoretic (ODEP) force. Instead of using traditional fixed metal microelectrodes to generate non-uniform electric field, dynamic optical images designed by an animator software and projected through a microscope lens are used as "virtual electrodes" to generate real-time-varying electric fields in a fluidic medium to manipulate/assemble micro-/nano-scale particles and biological entities. Moreover, the induced ODEP force field can also be used to focus polymer molecules locally to generate 3D micro-polymer structures. Thus far, we have demonstrated the manipulation/assembly/fabrication of 1) 500nm to 100μm polystyrene beads, 2) 50nm carbon nanoparticles, 3) 100nm Au nanoparticles, 4) 10μm pigmented human skin cells, and 5) polymer structures with 7μm lateral and 100nm thickness resolution. These results indicate that ODEP technology may potentially become a new paradigm for automating micro/nano manipulation, assembly, and fabrication processes. © 2011 IEEE.

关键词： Fabrication

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Modeling and analysis of a high acceleration and precision linear motor direct drive motion stage with bond graph approach

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Jiqiren/Robot 2011年第4期33卷 467-474页

作者： Sun, Lining Li, Teng Liu, Yanjie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

According to the characteristics of high acceleration and precision linear motor direct drive motion stage, global coupling dynamic modeling and analysis are performed in a wide bandwidth. The bond graph approach is used to build the global coupling dynamic model of motion stage, in which electrical parts, mechanical parts, flexible connection, and nonlinear friction in the system are considered. Based on the model, the influence of motor mechanical time constant, electrical time constant, friction and bolted connection on the system response performance are analyzed by Matlab/Simulink simulation language. The proposed model and analysis results reflect the basic features of this stage and influencing factors that can be ignored or need to be considered in system analysis and control. It lays a foundation for motor selection, system construction, trajectory planning and control algorithms design.

关键词： Linear motors

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A self-tuning multi-phase CPG enabling the snake robot to adapt to environments

A self-tuning multi-phase CPG enabling the snake robot to ad...

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2011 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Chaoquan Tang Shugen Ma Bin Li Yuechao Wang Graduate School of the Chinese Academy of Sciences Beijing China State Key Laboratory of Robotics Automation Chinese Academy of Sciences (CAS) Shenyang China Department of Robotics College of Science and Engineering Ritsumeikan University Shiga Japan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences (CAS) Shenyang China

Making biomimetic robots move like natural animals is an interesting problem, because this topic involves not only the low level algorithm that controls the movement of robots' bodies and limbs but also the high level control strategy that deals with different kinds of situations. Based on a certain biological assumption, a self-tuning multi-phase CPG for snake robots is proposed. This method imitates the control strategy of natural snake's movement in different environments, which enables the snake robot to move more quickly and naturally. Through kinematic and dynamic analysis of snake robots, optimal control parameters are chosen for the decision strategy. Due to the intrinsic property of the multi-phase CPG, this model can change the movement patterns and control parameters autonomously according to external information. As a result, such neural control provides a powerful but simple way to self-tune adaptable behaviors in snake robots.

关键词： Robot kinematics Robot sensing systems Neurons Adaptation models Legged locomotion Mathematical model

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Dynamic Shared Control for Human-Wheelchair Cooperation

Dynamic Shared Control for Human-Wheelchair Cooperation

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Qinan Li Weidong Chen Jingchuan Wang Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai 200240Chinaand State Key Laboratory of Robotics and System (HIT)Harbin 150001China

Shared control is a common used method for human and wheelchair cooperation. However, most of the previous shared control methods didn’t think much of the effect caused by the difference in the user’s control ability. The control weight of a user in these methods is irrelevant to the user’s capability or the driving conditions. In this paper, a dynamic shared control method is proposed to adapt wheelchair’s assistance to the variations of user performance and the environmental changes. Three evaluation indices including safety, comfort and obedience are designed to evaluate wheelchair performance in real time. A minimax multi-objective optimization algorithm is adopted to calculate the user’s control weight. The results of lab experiments and elderly home field tests show that this method can adapt the degree of wheelchair’s autonomy to the user’s control ability and it makes driving wheelchair much easier for elder people.

关键词： Wheelchairs Trajectory Safety Velocity control Indexes Senior citizens Manuals

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Motion Planning Algorithms of Redundant Manipulators Based on Self-motion Manifolds

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Chinese Journal of Mechanical Engineering 2010年第1期23卷 80-87页

作者： YAO Yufeng ZHAO Jianwen HUANG Bo State Key Laboratory of Robotics Technique and System Harbin Institute of Technology Harbin 150081 China

The current motion planning approaches for redundant manipulators mainly includes two categories： improved gradient-projection method and some other efficiency numerical methods. The former is excessively sensitive to parameters, which makes adjustment difficult; and the latter treats the motion planning as general task by ignoring the particularity, which has good universal property but reduces the solving speed for on-line real-time planning. In this paper, a novel stepwise solution based on self-motion manifold is proposed for motion planning of redundant manipulators, namely, the chief tasks and secondary tasks are implemented step by step. Firstly, the posture tracking of end-effector is achieved accurately by employing the non-redundant joint. Secondly, the end-effector is set to keep stationary. Finally, self-motion of manipulator is realized via additional work on the gradient of redundant joint displacement. To verify this solution, experiments of round obstacle avoiding are carried out via the planar 3 degree-of-~eedom manipulator. And the experimental results indicate that this motion planning algorithm can effectively achieve obstacle avoiding and posture tracking of the end-effector. Compared with traditional gradient projection method, this approach can accelerate the problem-solving process, and is more applicable to obstacle avoiding and other additional work in displacement level.

关键词： redundant manipulators self-motion motion planning inverse kinematics

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