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2016 IEEE Advanced Information Management,Communicates,Electronic and Automation Control Conference(IMCEC 2016)

作者： Shun Ma Jinhui Yao Xiaolong Wei Yanhe Zhu Harbin Institute of Technology State Key Laboratory of Robotics and System Fire Brigade in Haidian District

ISBN: (纸本)9781509001668

This paper introduces a novel and light weight lower extremity exoskeleton,used for carrying heavy load in the individual soldier combat *** exoskeleton has six degree of freedom per leg,only one of which is powered by the *** order to provide a reference for the exoskeleton mechanical structure and drive unit,the mechanical topology is designed and analyzed by Adams software to make a optimization and derive the drive joint kinematic *** the safety and comfort for the wearers,a gravity balanced system has been designed in the hip joint to supply power for *** critical hardware arrangement aspects and control system are summarized.

关键词： Lower extremity exoskeleton Mechanism topology Simulation Optimization Gravity balanced system

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Sine swept vibration control based on offline iteration technique

Sine swept vibration control based on offline iteration tech...

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2013 5th International Conference on Intelligent Human-Machine systems and Cybernetics, IHMSC 2013

作者： Yin, Liyi Zhang, Lianpeng Cong, Dacheng Han, Junwei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9780769550114

Sine swept vibration experiment using traditional PID control strategy represents poor accuracy. For this reason, this paper proposes the error compensation control strategy Based on multiple offline iteration. The proposed strategy applies the H1 estimator method to identify the system frequency response function (FRF) and then combines the identified FRF, Fast Fourier Transform (FFT) and inverse Fast Fourier Transform (IFFT) technique to correct the input sine swept signal to implement the sine swept test. The error of the expected output signal and the experiment output signal is calculated and corrected using FFT, IFFT and FRF to compensate the input signal. The updated input signal is used to implement the sine swept test again and so on, until the output signal meets the accuracy requirement. The procedure of the proposed control strategy is programmed using the software MATLAB/Simulink and then compiled to a real-time PC with Microsoft Visual *** for implementation. Simulation results, backed up by corresponding experimental ones, demonstrate that the proposed control strategy achieves satisfactory accuracy with offline iteration twice. © 2013 IEEE.

关键词： Fast Fourier transforms

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Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

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Frontiers of Mechanical Engineering 2021年第3期16卷 435-450页

作者： Boyu MA Zongwu XIE Zainan JIANG Hong LIU School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Seven-degree-of-freedom redundant manipulators with link offset have many advantages,including obvious geometric significance and suitability for configuration *** configuration is similar to that of the experimental module manipulator(EMM)in the Chinese Space Station Remote Manipulator ***,finding the analytical solution of an EMM on the basis of arm angle parameterization is *** study proposes a high-precision,semi-analytical inverse method for ***,the analytical inverse kinematic solution is established based on joint angle ***,the analytical inverse kinematic solution for a non-offset spherical-roll-spherical(SRS)redundant manipulator is derived based on arm angle *** approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS ***,the error is corrected using a numerical method through the analytical inverse solution based on joint angle *** selecting the stride and termination condition,the precise inverse solution is computed for the EMM based on arm angle ***,case solutions confirm that this method has high precision,and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.

关键词： 7-DOF redundant manipulator inverse kinematics semi-analytical arm angle link offset

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An Autonomous Obstacle Avoidance Path Planning Method Involving PSO for Dual-Arm Surgical Robot 5

An Autonomous Obstacle Avoidance Path Planning Method Involv...

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5th International Conference on Mechatronics, robotics and Automation, ICMRA 2022

作者： Chen, Qiao Liu, Yiwei Chen, Zhuo Zhou, Yangjunjian Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781665472654

Currently, motion planning and reasonable obstacle avoidance of surgical robots are essential research directions. Most surgical robots adopt a simple master-slave control strategy and cannot avoid obstacles autonomously. To this end, we propose an autonomous obstacle avoidance method for the dual-arm surgical robot. Firstly, the obstacle avoidance path planning is based on the artificial potential field method. We propose the splicing algorithm to make the manipulator jump out of the local minimum and improve the planning efficiency. And using the adaptive step to stable motion. Secondly, for collision detection, we use the Gilbert-Johnson-Keerthi (GJK) algorithm to calculate the distance between the obstacle and the equivalent convex body of the manipulator. A warning appears when there is a collision. Because the artificial potential field method lacks time planning, we use the time-optimized 3-5-3 polynomial interpolation based on the Particle Swarm optimization (PSO) to the obtained path. And make manipulators perform the surgery without collision for a suitable period. Finally, we carry out the system simulation, physical experiments, and dual-arm obstacle avoidance experiments based on the above autonomous obstacle avoidance algorithm. Experiments show that this study can make the dual-arm surgical robot move quickly and smoothly on the premise of avoiding obstacles, which provides a reference for the automation of surgical robots. © 2022 IEEE.

关键词： Motion planning

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Bond graph model of permanent magnet linear synchronous motor

Bond graph model of permanent magnet linear synchronous moto...

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2010 2nd International Conference on Industrial and Information systems, IIS 2010

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

ISBN: (纸本)9781424482177

The increasingly widespread industrial applications of permanent magnet linear synchronous motor (PMLSM) are self evident testimonies of the effectiveness of PMLSM in addressing the high requirements associated with these application areas. PMLSM direct drive system is a typical multi-domain system. This article proposes a bond graph model of PMLSM that can incorporate with other components in direct drive system to form dynamic electromechanical model. Principle of PMLSM under field-oriented control is equal to DC motor is illustrated firstly. Then bond graph model of PMLSM is built according to the equivalent circuit. The model is validated by comparing with a common used model which shows that bond graph model are equal to the model and represents clearly interactions between elements. © 2010 IEEE.

关键词： Vector control (Electric machinery)

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Kinematic Parameter Calibration Method of Light Weight Robots Based on Sequence Quadratic Programming Algorithm 12

Kinematic Parameter Calibration Method of Light Weight Robot...

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Min, Kang Ni, Fenglei Shu, Xin Ji, Zhu Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Kinematic parameter calibration can improve the absolute positioning accuracy of the robot tool center point (TCP). However, the current least-squares (LS) iterative method for calibration is sensitive to noise and ineffective when the Jacobian matrix is close to singular. In addition, the robot kinematic parameter errors cannot be directly compensated because its structure needs to satisfy Pieper's criterion. Thus, a kinematic parameter calibration based on sequence quadratic programming (SQP) algorithm is proposed to solve the above two issues. Firstly, the kinematics and its error model of TCP positions are established. Then, the kinematic parameter errors are identified by SQP algorithm. Finally, the identified kinematic parameter errors are converted into joint angle errors for error compensation. The simulations and experiments are carried out on the self-developed light weight robot. Simulation results show that the proposed calibration method is insensitive to noise. Experimental results reveal that mean positioning accuracy has increased 88.17% and 63.58% than that of the before calibration in sampling and verification regions, respectively. © 2022 IEEE.

关键词： Calibration

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Integral Real-time Locomotion Mode Recognition Based on GA-CNN for Lower Limb Exoskeleton

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Journal of Bionic Engineering 2022年第5期19卷 1359-1373页

作者： Jiaqi Wang Dongmei Wu Yongzhuo Gao Xinrui Wang Xiaoqi Li Guoqiang Xu Wei Dong State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Weapon Equipment Research Institute China South Industries Group CorporationBeijing 102202China

The wearable lower limb exoskeleton is a typical human-in-loop human–robot coupled system,which conducts natural and close cooperation with the human by recognizing human locomotion *** subject-specific training is the main challenge of the existing approaches,and most methods have the problem of insufficient *** paper proposes an integral subject-adaptive real-time Locomotion Mode Recognition(LMR)method based on GA-CNN for a lower limb exoskeleton *** LMR method is a combination of Convolutional Neural Networks(CNN)and Genetic Algorithm(GA)-based multi-sensor information *** improve network performance,the hyper-parameters are optimized by Bayesian *** exoskeleton prototype system with multi-type sensors and novel sensing-shoes is used to verify the proposed *** locomotion modes,which composed an integral locomotion system for the daily application of the exoskeleton,can be recognized by the proposed *** to a series of experiments,the recognizer shows strong comprehensive abilities including high accuracy,low delay,and sufficient adaption to different subjects.

关键词： Locomotion mode recognition Gait mode detection Lower limb exoskeleton Convolutional neural network Genetic algorithm Bionic design

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A novel control strategy for quadruped robot walking over irregular terrain

A novel control strategy for quadruped robot walking over ir...

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2011 IEEE 5th International Conference on robotics, Automation and Mechatronics, RAM 2011

作者： Yin, Peng Wang, Pengfei Li, Mantian Sun, Lining State Key Lab. of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781612842509

Quadruped robot has great potential in traversing irregular terrains. Normally its performance relies greatly on the accuracy of local terrain data that the onboard sensor system acquired. In order to reduce its reliance on terrain information for locomotion control to the minimum, in this paper we intend to provide a method to intensify its walking adaptability by endowing the robot with blind walking ability. Based on the transfer strategies provided in the paper, the rough terrain walking problem could be simplified as common slope walking condition, and motion planning could be achieved via some basic criteria. Impedance control is implemented to reduce impact when foot stride to ground. On purpose of coping with foot slippage which would cause robot to fall, reflex control strategy is applied and tested. Via simulation we tested the control strategy and the feasibility was verified. © 2011 IEEE.

关键词： Motion planning

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Analysis and Comparison of the Displacement Amplifiers with a Generalized Mathematical Model 9

Analysis and Comparison of the Displacement Amplifiers with ...

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9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent systems, CYBER 2019

作者： Chen, Fangxin Li, Hongwei He, Wenhui Li, Wangyang Dong, Wei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728107691

The bridge-type amplifier and the lever-type amplifier are the two frequently used displacement amplifiers in the precision engineering. However, to the knowledge of the authors, the analysis and the performance comparison between the two amplifiers was not frequently reported, which is instrumental in realizing and selecting the displacement amplifiers in the practice application. To this end, the two types mechanisms are analyzed and compared with a compliance matrix based model. Via the analysis and comparison, some interesting results which are significant for the amplifiers are founded: 1). The amplification ratio is related to the input displacement when the elastic load is applied;2) The limited amplification ratio phenomenon is observed in the bridge-type mechanism but also the lever-type one;3) The comparison of the flexure hinges design for the two amplifiers are presented;4) The load capacity of the two amplifiers are first analyzed and compared in this paper. Finally, the accuracy of the modeling is verified by FEA simulation studies. © 2019 IEEE.

关键词： Hinges

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A Kinematic Decoupling Whole-body Control Method for a Mobile Humanoid Upper Body Robot

A Kinematic Decoupling Whole-body Control Method for a Mobil...

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2023 International Conference on Frontiers of robotics and Software Engineering, FRSE 2023

作者： Ju, Fengjia Jin, Hongzhe Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350301113

The mobile humanoid upper body robot combines the humanoid upper body robot with the mobile platform. It has high redundancy and can complete complex tasks. However, coupling joints, including the waist joints and the mobile platform, exist in the configuration of the robot. During the task execution, the motion of the end-effectors on the dual arms are not independent, but interfere with each other through the motion of the waist and the mobile platform. Therefore, we need to decouple the waist and mobile platform from the dual arms. Based on the pseudo-inverse method of the redundant manipulators, we consider the motion of the coupling joints as a disturbance term and propose a kinematic decoupling whole-body control method. The method realizes the decoupling and cooperation of dual arms, avoids the interference of the inverse kinematics model of the dual arms, and fully releases the application potential of the high redundancy. The decoupling method allows the waist joints and the mobile platform to move randomly without affecting the task operation at the end-effectors, and to further plan their movements separately in order to smooth the whole body motion. The simulations on the mobile humanoid upper body robot verifies our method. © 2023 IEEE.

关键词： End effectors

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