A practical motion control strategy for a radio-controlled, 4-link and free-swimmingbiomimetic robot fish is presented. Based on control performance of the fish the fish s motion controltask is decomposed into on-line...A practical motion control strategy for a radio-controlled, 4-link and free-swimmingbiomimetic robot fish is presented. Based on control performance of the fish the fish s motion controltask is decomposed into on-line speed control and orientation control. The speed control algorithm isimplemented by using piecewise control, and orientation control is realized by fuzzy logic. Combiningwith step control and fuzzy control, a point-to-point (PTP) control algorithm is proposed and appliedto the closed-loop experimental system that uses a vision-based position sensing subsystem to providefeedback. Experiments confirm the reliability and e?ectiveness of the presented algorithms.展开更多
Taking a six-DOF hydraulic parallel experimental robot designed and manufactured by the authors as the object of study, we researched the track plan, special track producing method, place(position) and velocity contro...Taking a six-DOF hydraulic parallel experimental robot designed and manufactured by the authors as the object of study, we researched the track plan, special track producing method, place(position) and velocity control algorithm of parallel robot,etc. All researches have been verified by experimental prototype.展开更多
Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversati...Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.展开更多
A composite nonlinear feedback tracking controller for motion control of robot manipulators is described. The structure of the controller is composed of a composite nonlinear feedback law plus full robot nonlinear dyn...A composite nonlinear feedback tracking controller for motion control of robot manipulators is described. The structure of the controller is composed of a composite nonlinear feedback law plus full robot nonlinear dynamics compensation. The stability is carried out in the presence of friction. The controller takes advantage of varying damping ratios induced by the composite nonlinear feedback control, so the transient performance of the closed-loop is remarkably improved. Simulation results demonstrate the feasibility of the proposed method.展开更多
Many applications above the capability of a single robot need the cooperation of multiple mobile robots, but effective cooperation is hard to achieve. In this paper, a master slave method is proposed to control the m...Many applications above the capability of a single robot need the cooperation of multiple mobile robots, but effective cooperation is hard to achieve. In this paper, a master slave method is proposed to control the motions of multiple mobile robots that cooperatively transport a common object from a start point to a goal point. A noholonomic kinematic model to constrain the motions of multiple mobile robots is built in order to achieve cooperative motions of them, and a “Dynamic Coordinator” strategy is used to deal with the collision avoidance of the master robot and slave robot individually. Simulation results show the robustness and effectiveness of the method.展开更多
In this paper, a formation control algorithm and an obstade avoidance control algorithm for mobile robots are developed based on a relative motion sensory system such as a pan/tilt camera vision system, without the ne...In this paper, a formation control algorithm and an obstade avoidance control algorithm for mobile robots are developed based on a relative motion sensory system such as a pan/tilt camera vision system, without the need for global sensing and between robots. This is achieved by employing the velocity variation, instead of actual velocities, as the control inputs. Simulation and experimental results have demonstrated the effectiveness of the proposed control methods.展开更多
Navigation of autonomous mobile robots in dynamic and unknown environments needs to take into account different kinds of uncertainties. Type-1 fuzzy logic research has been largely used in the control of mobile robots...Navigation of autonomous mobile robots in dynamic and unknown environments needs to take into account different kinds of uncertainties. Type-1 fuzzy logic research has been largely used in the control of mobile robots. However, type-1 fuzzy control presents limitations in handling those uncertainties as it uses precise fuzzy sets. Indeed type-1 fuzzy sets cannot deal with linguistic and numerical uncertainties associated with either the mechanical aspect of robots, or with dynamic changing environment or with knowledge used in the phase of conception of a fuzzy system. Recently many researchers have applied type-2 fuzzy logic to improve performance. As control using type-2 fuzzy sets represents a new generation of fuzzy controllers in mobile robotic issue, it is interesting to present the performances that can offer type-2 fuzzy sets by regards to type-1 fuzzy sets. The paper presented deep and new comparisons between the two sides of fuzzy logic and demonstrated the great interest in controlling mobile robot using type-2 fuzzy logic. We deal with the design of new controllers for mobile robots using type-2 fuzzy logic in the navigation process in unknown and dynamic environments. The dynamicity of the environment is depicted by the presence of other dynamic robots. The performances of the proposed controllers are represented by both simulations and experimental results, and discussed over graphical paths and numerical analysis.展开更多
The motion planning problem of a free flying space robot (FFSR) is investigated and from the attitude disturbance characteristics of a multi arm FFSR, a new method based on the fixed attitude restricted (FAR) Gene...The motion planning problem of a free flying space robot (FFSR) is investigated and from the attitude disturbance characteristics of a multi arm FFSR, a new method based on the fixed attitude restricted (FAR) Generalized Jacobian Matrix of a multi arm FFSR is proposed to enable the coordinated motion of all the other arms while one arm is tracing a given path so that there is no disturbance on the body, and the problem of attitude disturbance with an operating multi arm FFSR is thereby better resolved. The simulation run with a dual arm FFSR system verifies the effectiveness of this algorithm.展开更多
为了减小配电网带电作业的人身安全风险,降低电力系统的运维成本,文中设计了一种面向配电网作业的半人形智能机器人系统,包括硬件结构和控制系统设计。不同于绝缘杆作业法,该系统通过佩戴数据手套和腕部红外追踪器等多模态可穿戴设备来...为了减小配电网带电作业的人身安全风险,降低电力系统的运维成本,文中设计了一种面向配电网作业的半人形智能机器人系统,包括硬件结构和控制系统设计。不同于绝缘杆作业法,该系统通过佩戴数据手套和腕部红外追踪器等多模态可穿戴设备来捕捉人体动作和作业细节,并采用动态运动基元(dynamic movement primitives, DMP)将人体数据映射到半人形机器人的机械臂和末端灵巧手来进行配网作业。测试结果表明:所设计的半人形机器人系统能够稳定跟踪人体演示细节。在模拟配电网线路中可以完成多种作业功能,作业实验成功率可达88.9%。展开更多
A multiple-legged robot is traditionally controlled by using its dynamic model.But the dynamic-model-based approach fails to acquire satisfactory performances when the robot faces rough terrains and unknown environmen...A multiple-legged robot is traditionally controlled by using its dynamic model.But the dynamic-model-based approach fails to acquire satisfactory performances when the robot faces rough terrains and unknown environments.Referring animals＇ neural control mechanisms,a control model is built for a quadruped robot walking adaptively.The basic rhythmic motion of the robot is controlled by a well-designed rhythmic motion controller（RMC） comprising a central pattern generator（CPG） for hip joints and a rhythmic coupler（RC） for knee joints.CPG and RC have relationships of motion-mapping and rhythmic couple.Multiple sensory-motor models,abstracted from the neural reflexes of a cat,are employed.These reflex models are organized and thus interact with the CPG in three layers,to meet different requirements of complexity and response time to the tasks.On the basis of the RMC and layered biological reflexes,a quadruped robot is constructed,which can clear obstacles and walk uphill and downhill autonomously,and make a turn voluntarily in uncertain environments,interacting with the environment in a way similar to that of an animal.The paper provides a biologically inspired architecture,with which a robot can walk adaptively in uncertain environments in a simple and effective way,and achieve better performances.展开更多
文摘A practical motion control strategy for a radio-controlled, 4-link and free-swimmingbiomimetic robot fish is presented. Based on control performance of the fish the fish s motion controltask is decomposed into on-line speed control and orientation control. The speed control algorithm isimplemented by using piecewise control, and orientation control is realized by fuzzy logic. Combiningwith step control and fuzzy control, a point-to-point (PTP) control algorithm is proposed and appliedto the closed-loop experimental system that uses a vision-based position sensing subsystem to providefeedback. Experiments confirm the reliability and e?ectiveness of the presented algorithms.
文摘Taking a six-DOF hydraulic parallel experimental robot designed and manufactured by the authors as the object of study, we researched the track plan, special track producing method, place(position) and velocity control algorithm of parallel robot,etc. All researches have been verified by experimental prototype.
基金the National Natural Science Foundation of China (Nos. 10672040 and10372022)the Natural Science Foundation of Fujian Province of China (No. E0410008)
文摘Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.
基金supported by the National Natural Science Foundation of China (60428303)
文摘A composite nonlinear feedback tracking controller for motion control of robot manipulators is described. The structure of the controller is composed of a composite nonlinear feedback law plus full robot nonlinear dynamics compensation. The stability is carried out in the presence of friction. The controller takes advantage of varying damping ratios induced by the composite nonlinear feedback control, so the transient performance of the closed-loop is remarkably improved. Simulation results demonstrate the feasibility of the proposed method.
文摘Many applications above the capability of a single robot need the cooperation of multiple mobile robots, but effective cooperation is hard to achieve. In this paper, a master slave method is proposed to control the motions of multiple mobile robots that cooperatively transport a common object from a start point to a goal point. A noholonomic kinematic model to constrain the motions of multiple mobile robots is built in order to achieve cooperative motions of them, and a “Dynamic Coordinator” strategy is used to deal with the collision avoidance of the master robot and slave robot individually. Simulation results show the robustness and effectiveness of the method.
文摘In this paper, a formation control algorithm and an obstade avoidance control algorithm for mobile robots are developed based on a relative motion sensory system such as a pan/tilt camera vision system, without the need for global sensing and between robots. This is achieved by employing the velocity variation, instead of actual velocities, as the control inputs. Simulation and experimental results have demonstrated the effectiveness of the proposed control methods.
文摘Navigation of autonomous mobile robots in dynamic and unknown environments needs to take into account different kinds of uncertainties. Type-1 fuzzy logic research has been largely used in the control of mobile robots. However, type-1 fuzzy control presents limitations in handling those uncertainties as it uses precise fuzzy sets. Indeed type-1 fuzzy sets cannot deal with linguistic and numerical uncertainties associated with either the mechanical aspect of robots, or with dynamic changing environment or with knowledge used in the phase of conception of a fuzzy system. Recently many researchers have applied type-2 fuzzy logic to improve performance. As control using type-2 fuzzy sets represents a new generation of fuzzy controllers in mobile robotic issue, it is interesting to present the performances that can offer type-2 fuzzy sets by regards to type-1 fuzzy sets. The paper presented deep and new comparisons between the two sides of fuzzy logic and demonstrated the great interest in controlling mobile robot using type-2 fuzzy logic. We deal with the design of new controllers for mobile robots using type-2 fuzzy logic in the navigation process in unknown and dynamic environments. The dynamicity of the environment is depicted by the presence of other dynamic robots. The performances of the proposed controllers are represented by both simulations and experimental results, and discussed over graphical paths and numerical analysis.
文摘The motion planning problem of a free flying space robot (FFSR) is investigated and from the attitude disturbance characteristics of a multi arm FFSR, a new method based on the fixed attitude restricted (FAR) Generalized Jacobian Matrix of a multi arm FFSR is proposed to enable the coordinated motion of all the other arms while one arm is tracing a given path so that there is no disturbance on the body, and the problem of attitude disturbance with an operating multi arm FFSR is thereby better resolved. The simulation run with a dual arm FFSR system verifies the effectiveness of this algorithm.
文摘为了减小配电网带电作业的人身安全风险,降低电力系统的运维成本,文中设计了一种面向配电网作业的半人形智能机器人系统,包括硬件结构和控制系统设计。不同于绝缘杆作业法,该系统通过佩戴数据手套和腕部红外追踪器等多模态可穿戴设备来捕捉人体动作和作业细节,并采用动态运动基元(dynamic movement primitives, DMP)将人体数据映射到半人形机器人的机械臂和末端灵巧手来进行配网作业。测试结果表明:所设计的半人形机器人系统能够稳定跟踪人体演示细节。在模拟配电网线路中可以完成多种作业功能,作业实验成功率可达88.9%。
基金supported by National Natural Science Foundation of China (Grant No. 50905012)the Fundamental Research Funds for the Central Universities of China (Grant No. 2012JBM088)
文摘A multiple-legged robot is traditionally controlled by using its dynamic model.But the dynamic-model-based approach fails to acquire satisfactory performances when the robot faces rough terrains and unknown environments.Referring animals＇ neural control mechanisms,a control model is built for a quadruped robot walking adaptively.The basic rhythmic motion of the robot is controlled by a well-designed rhythmic motion controller（RMC） comprising a central pattern generator（CPG） for hip joints and a rhythmic coupler（RC） for knee joints.CPG and RC have relationships of motion-mapping and rhythmic couple.Multiple sensory-motor models,abstracted from the neural reflexes of a cat,are employed.These reflex models are organized and thus interact with the CPG in three layers,to meet different requirements of complexity and response time to the tasks.On the basis of the RMC and layered biological reflexes,a quadruped robot is constructed,which can clear obstacles and walk uphill and downhill autonomously,and make a turn voluntarily in uncertain environments,interacting with the environment in a way similar to that of an animal.The paper provides a biologically inspired architecture,with which a robot can walk adaptively in uncertain environments in a simple and effective way,and achieve better performances.
