In this study,a hyper-redundant manipulator was designed for detection and searching in narrow spaces for aerospace and earthquake rescue applications.A forward kinematics equation for the hyper-redundant manipulator ...In this study,a hyper-redundant manipulator was designed for detection and searching in narrow spaces for aerospace and earthquake rescue applications.A forward kinematics equation for the hyper-redundant manipulator was derived using the homogeneous coordinate transformation method.Based on the modal function backbone curve method and the known path,an improved modal method for the backbone curves was proposed.First,the configuration of the backbone curve for the hyper-redundant manipulator was divided into two parts:a mode function curve segment of the mode function and a known path segment.By changing the discrete points along the known path,the backbone curve for the manipulator when it reached a specified path point was dynamically obtained,and then the joint positions of the manipulator were fitted to the main curve by dichotomy.Combined with engineering examples,simulation experiments were performed using the new algorithm to extract mathematical models for external narrow space environments.The experimental results showed that when using the new algorithm,the hyper-redundant manipulator could complete the tasks of passing through curved pipes and moving into narrow workspaces.The effectiveness of the algorithm was also proven by these experiments.展开更多
This paper investigates the issue of fault-tolerant control for swarm systems subject to switched graphs,actuator faults and obstacles.A geometric-based partial differential equation(PDE)framework is proposed to unify...This paper investigates the issue of fault-tolerant control for swarm systems subject to switched graphs,actuator faults and obstacles.A geometric-based partial differential equation(PDE)framework is proposed to unify collision-free trajectory generation and fault-tolerant control.To deal with the fault-induced force imbalances,the Riemannian metric is proposed to coordinate nominal controllers and the global one.Then,Riemannianbased trajectory length optimization is solved by gradient's dynamic model-heat flow PDE,under which a feasible trajectory satisfying motion constraints is achieved to guide the faulty system.Such virtual control force emerges autonomously through this metric adjustments.Further,the tracking error is rigorously proven to be exponential boundedness.Simulation results confirm the validity of these theoretical findings.展开更多
Propose a new sensor-based motion planning approach of Situated-Bug, which is composed of goal-oriented behavior, boundary following behavior and goal-oriented obstacle avoidance behavior, which are based on fuzzy con...Propose a new sensor-based motion planning approach of Situated-Bug, which is composed of goal-oriented behavior, boundary following behavior and goal-oriented obstacle avoidance behavior, which are based on fuzzy control. The situated-Bug selects its behaviors according to robot orientation, instead of positions and hit points like other Bug algorithms, and its convergence proves robust to sensor noise, and it can guide the robots running for long rang traverse. At the same time, the design of the Situated-Bug is presented. Simulation results show that the approach is effective and practical.展开更多
基金The authors gratefully acknowledge the financial support provided by the National Key Research&Development Project of China(Grant No.2019YFB1311203).
文摘In this study,a hyper-redundant manipulator was designed for detection and searching in narrow spaces for aerospace and earthquake rescue applications.A forward kinematics equation for the hyper-redundant manipulator was derived using the homogeneous coordinate transformation method.Based on the modal function backbone curve method and the known path,an improved modal method for the backbone curves was proposed.First,the configuration of the backbone curve for the hyper-redundant manipulator was divided into two parts:a mode function curve segment of the mode function and a known path segment.By changing the discrete points along the known path,the backbone curve for the manipulator when it reached a specified path point was dynamically obtained,and then the joint positions of the manipulator were fitted to the main curve by dichotomy.Combined with engineering examples,simulation experiments were performed using the new algorithm to extract mathematical models for external narrow space environments.The experimental results showed that when using the new algorithm,the hyper-redundant manipulator could complete the tasks of passing through curved pipes and moving into narrow workspaces.The effectiveness of the algorithm was also proven by these experiments.
基金supported in part by the National Natural Science Foundation of China under Grant 62303144,62020106003,U22A2044in part by the Zhejiang Provincial Natural Science Foundation of China under Grant LQ23F030013.
文摘This paper investigates the issue of fault-tolerant control for swarm systems subject to switched graphs,actuator faults and obstacles.A geometric-based partial differential equation(PDE)framework is proposed to unify collision-free trajectory generation and fault-tolerant control.To deal with the fault-induced force imbalances,the Riemannian metric is proposed to coordinate nominal controllers and the global one.Then,Riemannianbased trajectory length optimization is solved by gradient's dynamic model-heat flow PDE,under which a feasible trajectory satisfying motion constraints is achieved to guide the faulty system.Such virtual control force emerges autonomously through this metric adjustments.Further,the tracking error is rigorously proven to be exponential boundedness.Simulation results confirm the validity of these theoretical findings.
文摘Propose a new sensor-based motion planning approach of Situated-Bug, which is composed of goal-oriented behavior, boundary following behavior and goal-oriented obstacle avoidance behavior, which are based on fuzzy control. The situated-Bug selects its behaviors according to robot orientation, instead of positions and hit points like other Bug algorithms, and its convergence proves robust to sensor noise, and it can guide the robots running for long rang traverse. At the same time, the design of the Situated-Bug is presented. Simulation results show that the approach is effective and practical.
