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General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of exponential model

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Frontiers of Mechanical Engineering 2022年第2期17卷 85-101页

作者： Tao SONG Bo PAN Guojun NIU Jiawen YAN Yili FU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechanical Engineering and Automation Zhejiang Sci-Tech UniversityHangzhou 310018China

The inverse kinematics problems of robots are usually decomposed into several Paden–Kahan subproblems based on the product of exponential model. However, the simple combination of subproblems cannot solve all the inverse kinematics problems, and there is no common approach to solve arbitrary three-joint subproblems in an arbitrary postural relationship. The novel algebraic geometric (NAG) methods that obtain the general closed-form inverse kinematics for all types of three-joint subproblems are presented in this paper. The geometric and algebraic constraints are used as the conditions precedent to solve the inverse kinematics of three-joint subproblems. The NAG methods can be applied in the inverse kinematics of three-joint subproblems in an arbitrary postural relationship. The inverse kinematics simulations of all three-joint subproblems are implemented, and simulation results indicating that the inverse solutions are consistent with the given joint angles validate the general closed-form inverse kinematics. Huaque III minimally invasive surgical robot is used as the experimental platform for the simulation, and a master–slave tracking experiment is conducted to verify the NAG methods. The simulation result shows the inverse solutions and six sets given joint angles are consistent. Additionally, the mean and maximum of the master–slave tracking experiment for the closed-form solution are 0.1486 and 0.4777 mm, respectively, while the mean and maximum of the master–slave tracking experiment for the compensation method are 0.3188 and 0.6394 mm, respectively. The experiments results demonstrate that the closed-form solution is superior to the compensation method. The results verify the proposed general closed-form inverse kinematics based on the NAG methods.

关键词： inverse kinematics Paden-Kahan subproblems three-joint subproblems product of exponential closed-form solution

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Synergistic control of soft robotic hands for human-like grasp postures

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Science China(Technological Sciences) 2022年第3期65卷 553-568页

作者： ZHANG NingBin ZHAO Yi GU GuoYing ZHU XiangYang Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

Although significant advances in the design of soft robotic hands have been made to mimic the structure of the human hands,there are great challenges to control them for coordinated and human-like *** on the principle of postural synergies in the human hand,we present a synergistic approach for coordinated control of a soft robotic hand to replicate the human-like grasp *** this end,we firstly develop a kinematic model to describe the control variables and the various postures of the soft robotic *** on the postural synergies,we use the developed model and Principal Component Analysis(PCA)method to describe the various postures of the soft robotic hand in a low-dimensional space formed by the synergies of actuator ***,the coordinates of these synergies can be used as low-dimensional control inputs for the soft robotic hand with a higher-dimensional postural ***,we establish an experimental platform on a customized soft robotic hand with6 pneumatical actuators to verify the effectiveness of the *** results demonstrate that with only a 2-dimensional control input,the soft robotic hand can reliably replicate 30 grasp postures in the Feix taxonomy of the human hand.

关键词： soft robotic hand synergistic control human-like grasp postures principal component analysis pneumatic actuation

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Obstacle Identification Based on Deep Learning for Inspection Robot of FAST Wire Rope 2

Obstacle Identification Based on Deep Learning for Inspectio...

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2nd International Conference on Automation, robotics and Computer Engineering, ICARCE 2023

作者： Yang, Chengxu Sun, Xiangyu Liu, Gangfeng School of Mechatronics Engineering Harbin Institute of Technology Harbin China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350308341

In this paper, for the requirements of image recognition and localization of the obstacles existing on the moving path in the inspection task of FAST cable inspection robot, the deep learning method is used to realize the recognition of multi-kind and multi-scale obstacles. The obstacles on FAST wire rope have not been identified before. By enhancing the data set and improving the network model, the recognition accuracy and speed are both improved, which meets the efficiency and accuracy requirements of obstacle detection on the wire rope, and provides help for the subsequent robot pace planning and overhaul tasks. © 2023 IEEE.

关键词： Inspection

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An adjustable time slice process scheduling algorithm based on feature similarity clustering 4

An adjustable time slice process scheduling algorithm based ...

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4th International Conference on Artificial Intelligence and Electromechanical Automation, AIEA 2023

作者： Xiao, Gong Liang, Ding State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China China Software Testing Center Beijing100000 China

ISBN: (纸本)9781510666412

In order to improve the efficiency of the operating system scheduler, this paper proposes an adjustable time slice process scheduling algorithm ATSPS (Adjustable Time Slice Process Scheduling) based on feature similarity clustering, which can reduce the cost of the operating system process scheduling time, reduce the process turnaround time, and improve the process execution efficiency. ATSPS forms different process clusters by clustering the characteristics of process burst time, time slice, weight, and context switching times. It uses the same specification time slice for each type of process cluster. Through queue scheduling adjustment, it accelerates the execution efficiency of computationally intensive processes, reduces the number of contexts switching times caused by the expiration of time slice, and saves scheduling time. The scheduling process of robot grabbing program in the operating system is simulated by MATLAB, and the ready queue, blocking queue and execution queue of the operating system are simulated. The robot grabbing program is simulated, including visual process, force control process and posture process. ATSPS is compared with five classical scheduling algorithms. The experimental results show that on the scheduling criteria of three CPU scheduling algorithms, namely, waiting time, turnaround time and context switching times, ATSPS algorithm reduces the time cost of process scheduling, realizes the real-time scheduling of operating system process, and provides guarantee for the real-time control of robot. © 2023 SPIE.

关键词： Scheduling algorithms

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Experimental and numerical study of deposition mechanisms for cold spray additive manufacturing process

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Chinese Journal of Aeronautics 2022年第2期35卷 276-290页

作者： Tianyu YU Mingjun CHEN Zhuoru WU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China Department of Mechanical Engineering Iowa State UniversityAmes 50011USA

Cold spray is an attractive and rapidly developing process for additive manufacturing with high efficiency and precision,repairing and coating,especially in aircraft and aerospace *** spray additive manufacturing deposits micro-particles with large plastic deformation below their melting point,eliminating heat effect zone which could deteriorate the quality of repairing *** particle deposition in cold spray is a complex process which involves high strain rate,high contact pressure and high *** we develop,utilize and validate a thermomechanical model to provide a definitive way to predict deposition mechanics and surface deformation evolution for particle deposition process in cold spray additive *** a single particle and dual particles models were developed to investigate the contact interaction between particle/substrate and particle/*** combinations of particle/substrate materials(Cu/Cu,Al/Al,steel/steel,and nickel/nickel)and process parameters were considered in this *** experimental study was conducted to validate simulation results,providing useful information for understanding the limitations and challenges associated with cold spray additive *** framework provides insights into improving the quality and precision of stress/strain formation,particle interactions and particle deposition in cold spray additive manufacturing process.

关键词： Additive manufacturing Cold spray Finite element analysis Residual stresses Surface morphology

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Wheel's Slip Ratio and Sinkage Estimation for Planetary Rovers Moving on Deformable Terrain

Wheel's Slip Ratio and Sinkage Estimation for Planetary Rove...

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2021 International Conference on robotics Automation and Intelligent Control, ICRAIC 2021

作者： Yang, Huaiguang Ding, Liang Gao, Haibo Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China

Planetary rover plays a significant role in the lunar and Mars exploration missions and wheel's move status such as sinkage and slip ratio are the critical Factor to estimate the moving ability of the Mars rover. A method is proposed to estimate wheel's sinkage and skid angle based on terramechanic model and estimate slip ratio based on rover's dynamic model using Extended Kalman Filter algorithm. The proposed method can avoid the errors caused by Visual Odometry and improves the estimation accuracy of rover state through the fusion with other sensors' data. The effectiveness of the estimation method for planetary rovers is verified by comparing with the results obtained from dynamic simulation of Mars rovers. © 2022 Institute of Physics Publishing. All rights reserved.

关键词： Rovers

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A New Noise-Tolerant Dual-Neural-Network Scheme for Robust Kinematic Control of Robotic Arms With Unknown Models

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IEEE/CAA Journal of Automatica Sinica 2022年第10期9卷 1778-1791页

作者： Ning Tan Peng Yu Zhiyan Zhong Fenglei Ni IEEE the School of Computer Science and Engineering&Key Laboratory of Machine Intelligence and Advanced Computing Ministry of EducationSun Yat-sen UniversityGuangzhou 510006China the School of Automation Guangdong Polytechnic Normal UniversityGuangzhou 510665China the State Key Laboratory of Robotics and Systems Harbin Institute of Technology(HIT)Harbin 150080China

Taking advantage of their inherent dexterity,robotic arms are competent in completing many tasks *** a result of the modeling complexity and kinematic uncertainty of robotic arms,model-free control paradigm has been proposed and investigated ***,robust model-free control of robotic arms in the presence of noise interference remains a problem worth *** this paper,we first propose a new kind of zeroing neural network(ZNN),i.e.,integration-enhanced noise-tolerant ZNN(IENT-ZNN)with integration-enhanced noisetolerant ***,a unified dual IENT-ZNN scheme based on the proposed IENT-ZNN is presented for the kinematic control problem of both rigid-link and continuum robotic arms,which improves the performance of robotic arms with the disturbance of noise,without knowing the structural parameters of the robotic *** finite-time convergence and robustness of the proposed control scheme are proven by theoretical ***,simulation studies and experimental demonstrations verify that the proposed control scheme is feasible in the kinematic control of different robotic arms and can achieve better results in terms of accuracy and robustness.

关键词： Dual zeroing neural networks(ZNN) finite-time convergence model-free robot control robustness analysis

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Hydrodynamics study of dolphin’s self-yaw motion realized by spanwise flexibility of caudal fin

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Journal of Ocean Engineering and Science 2022年第3期7卷 213-224页

作者： Zhihan Li Dan Xia Jiabo Cao Weishan Chen Xingsong Wang School of Mechanical Engineering Southeast UniversityNanjingJiangsu 211189China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China

The hydrodynamic performance of the virtual underwater vehicle under self-yaw is investigated numerically in this paper,we aim to explore the fluid laws behind this plane motion achieved by the bionic flexibility,especially the spanwise flexibility of the caudal *** kinematics of the chordwise flexible body and the spanwise flexible caudal fin are explored through dynamic mesh technology and user-defined functions(UDF).The 3-D Navier-Stokes equations are applied to simulate the viscid fluid surrounding the bionic *** study focuses on quantitative problems about the fluid dynamics behind the specific motion law,including speed of movement,energy loss and working *** current results show that the self-yaw can be composed of two motions,autonomous propulsion and active *** addition,the degree of the flexible caudal fin can produce different yaw *** chordwise phase differenceФis dominant in the propulsion function,while the spanwise phase differenceδhas a more noticeable effect on the steering *** pressure distribution on the surface of the dolphin and the wake vortex generated in the flow field reasonably reveal the evolution of *** properly turns out that the dolphin can combine the spanwise flexible caudal fin and the chordwise flexible body to achieve self-yaw motion.

关键词： Self-yaw dolphin Spanwise flexibility Caudal fin Numerical simulation Hydrodynamic performance

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Design and Experiment of A Hybrid Wave Energy Harvester Based on Tapered Rollers 21

Design and Experiment of A Hybrid Wave Energy Harvester Base...

引用

21st International Conference on Micro and Nanotechnology for Power Generation and Energy Conversion Applications, PowerMEMS 2022

作者： Li, Yunfei Tang, Tianyi Fang, Yan Huang, Manjuan Hou, Cheng Liu, Huicong Sun, Lining State Key Laboratory of Robotics and System Harbin150001 China Soochow University School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics China

ISBN: (纸本)9781665493062

This paper presents a hybrid energy harvester based on tapered rollers with an electromagnetic generator (EMG) component and a triboelectric nanogenerator (TENG) component for ultra-low frequency wave energy harvesting. The chaotic pendulum is adjusted to adapt the wave excitation under different sea conditions, ensuring that the device achieves optimal output performance. At excitation frequency of 1Hz and the tilt angle of 60°, the open-circuit voltage peaks of 8.4 and 132 V can be achieved by the EMG and TENG, respectively, corresponding to the power outputs of 4.38 and 0.078 mW, respectively. It was demonstrated that the device can easily light up over 360 red light-emitting diodes. © 2022 IEEE.

关键词： Wave energy conversion

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Real-time Trajectory Planning for Redundant 7-dof Space Manipulators with Unknown Link Lengths

Real-time Trajectory Planning for Redundant 7-dof Space Mani...

引用

robotics, Control and Automation (ICRCA), International Conference on

作者： Jian Liu Zhiqi Li Shicai Shi Minghe Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331544577

ISBN: (纸本)9798331544584

Trajectory planning for redundant space manipulators in complex spatial environments is critical for ensuring successful on-orbit task execution, especially when the manipulator’s link lengths are unknown. Traditional algorithms struggle to establish the transformation between task space and joint space under such conditions, posing significant challenges to autonomous trajectory planning. This study proposes a novel trajectory planning method for a seven-degree-of-freedom redundant space manipulator with a shoulder-wrist offset. The method utilizes a trained pose control decision system to generate continuous, smooth, and singularity-free trajectories in real time, satisfying positional and orientational accuracy requirements for target capture. A neural network with strong nonlinear fitting capabilities is employed as the position control decision module for joints 1-4, trained using a "cautious exploration, greedy exploitation" strategy for efficient and safe trajectory optimization. For joints 5-7, an analytical orientation control decision module adjusts the end-effector’s attitude. Together, these modules form a pose control decision system that adheres to constraints on joint angular velocity, acceleration, and singularity avoidance. The proposed approach is validated through simulations in both static and dynamic scenarios, with simulation results confirming its effectiveness.

关键词： Accuracy Trajectory planning Simulation Position control Aerospace electronics Manipulators Control systems Real-time systems Angular velocity Manipulator dynamics

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