High-speed pick-and-place parallel robot is a system where the inertia imposed on the motor shafts is real-time changing with the system configurations.High quality of computer control with proper controller parameter...High-speed pick-and-place parallel robot is a system where the inertia imposed on the motor shafts is real-time changing with the system configurations.High quality of computer control with proper controller parameters is conducive to overcoming this problem and has a significant effect on reducing the robot＇s tracking error.By taking Delta robot as an example,a method for parameter tuning of the fixed gain motion controller is presented.Having identifying the parameters of the servo system in the frequency domain by the sinusoidal excitation,the PD＋feedforward control strategy is proposed to adapt to the varying inertia loads,allowing the controller parameters to be tuned by minimizing the mean square tracking error along a typical trajectory.A set of optimum parameters is obtained through computer simulations and the effectiveness of the proposed approach is validated by experiments on a real prototype machine.Let the traveling plate undergoes a specific trajectory and the results show that the tracking error can be reduced by at least 50%in comparison with the conventional auto-tuning and Z-N methods.The proposed approach is a whole workspace optimization and can be applied to the parameter tuning of fixed gain motion controllers.展开更多
A learning-based control approach is presented for force servoing of a robot with vision in an unknown environment. Firstly, mapping relationships between image features of the servoing object and the joint angles of ...A learning-based control approach is presented for force servoing of a robot with vision in an unknown environment. Firstly, mapping relationships between image features of the servoing object and the joint angles of the robot are derived and learned by a neural network. Secondly, a learning controller based on the neural network is designed for the robot to trace the object. Thirdly, a discrete time impedance control law is obtained for the force servoing of the robot, the on-line learning algorithms for three neural networks are developed to adjust the impedance parameters of the robot in the unknown environment. Lastly, wiping experiments are carried out by using a 6 DOF industrial robot with a CCD camera and a force/torque sensor in its end effector, and the experimental results confirm the effecti veness of the approach.展开更多
Performance of giant magnetostrictive material (GMM) is introduced. Principleof work, basic structure and key techniques of giant magnetostrictive actuator (GMA) are analyzed.Its dynamic models of magneto-mechanical c...Performance of giant magnetostrictive material (GMM) is introduced. Principleof work, basic structure and key techniques of giant magnetostrictive actuator (GMA) are analyzed.Its dynamic models of magneto-mechanical coupling are established. The structure and principle ofthe pneumatic servo valve and the micro pipe robot with new homemade GMM are presented. Theexperiment is carried out under typical working conditions. The experiment results show that the GMMpneumatic servo valve has wide pressure control characteristics, good linearity, and fast responsespeed. The movement principles of the GMM robot system are reliably feasible and its maximal movingspeed is about 8 mm/s. It is preferable to the driving frequency of the robot within 100 approx 300Hz.展开更多
【目的】针对机器人自主装配研究多聚焦静态目标,移动目标装配相关研究不足的问题,提出一种视觉阻抗控制器的变参数控制方法,以提升机器人在动态环境中目标跟踪与移动装配的适应性和柔顺性。【方法】首先,结合力反馈与视觉反馈信息,在...【目的】针对机器人自主装配研究多聚焦静态目标,移动目标装配相关研究不足的问题,提出一种视觉阻抗控制器的变参数控制方法,以提升机器人在动态环境中目标跟踪与移动装配的适应性和柔顺性。【方法】首先,结合力反馈与视觉反馈信息,在特征空间构建2阶阻抗控制器,为动态装配提供控制基础;其次,将蒙特卡洛随机失活(Monte Carlo Dropout,MCD)作为概率动力学模型,改进概率推理学习控制优化(Probabilistic Inference for Learning Control Optimization,PILCO)算法,平衡状态不确定性推理能力与计算效率;最后,以特征误差和机器人关节位置信息为观测空间,自适应调整控制器阻抗参数,优化动态跟踪与装配性能。【结果】仿真及试验台验证结果表明,相比原高斯过程模型,MCD模型在保留状态不确定性推理能力的同时,显著缩短训练时间(50轮训练时间从43.50 h降至12.82 h);装配成功率从94.5%提升至98.0%,平均装配用时从5.820 s缩短至3.253 s,超调量大幅减少,跟踪响应更及时。研究可为移动目标柔顺装配提供参考。展开更多
In present,there are increasing interests in the research on mechanical and control system of underwater vehicles.These ongoing research efforts are motivated by more pervasive applications of such vehicles including ...In present,there are increasing interests in the research on mechanical and control system of underwater vehicles.These ongoing research efforts are motivated by more pervasive applications of such vehicles including seabed oil and gas explorations, scientific deep ocean surveys,military purposes,ecological and water environmental studies,and also entertainments. However,the performance of underwater vehicles with screw type propellers is not prospective in terms of its efficiency and maneuverability.The main weaknesses of this kind of propellers are the production of vortices and sudden generation of thrust forces which make the control of the position and motion difficult. On the other hand,fishes and other aquatic animals are efficient swimmers,posses high maneuverability,are able to follow trajectories,can efficiently stabilize themselves in currents and surges,create less wakes than currently used underwater vehicle, and also have a noiseless propulsion.The fish's locomotion mechanism is mainly controlled by its caudal fin and paired pectoral fins.They are classified into Body and/or Caudal Fin(BCF)and Median and/or paired Pectoral Fins(MPF).The study of highly efficient swimming mechanisms of fish can inspire a better underwater vehicles thruster design and its mechanism. There are few studies on underwater vehicles or fish robots using paired pectoral fins as thruster.The work presented in this paper represents a contribution in this area covering study,design and implementation of locomotion mechanisms of paired pectoral fins in a fish robot.The performance and viability of the biomimetic method for underwater vehicles are highlighted through in-water experiment of a robotic fish.展开更多
In this paper, we propose a method to select the observation position in visual servoing with an eye-in-vehicle configuration for the manipulator. In traditional visual servoing, the images taken by the camera may hav...In this paper, we propose a method to select the observation position in visual servoing with an eye-in-vehicle configuration for the manipulator. In traditional visual servoing, the images taken by the camera may have various problems, including being out of view, large perspective aberrance, improper projection area of object in images and so on. In this paper, we propose a method to determine the observation position to solve these problems. A mobile robot system with pan-tilt camera is designed, which calculates the observation position based on an observation and then moves there. Both simulation and experimental results are provided to validate the effectiveness of the proposed method.展开更多
The paper presents the design of walking leg for bionics crab-like robot, which is driven with micro servo motor. The kinematic characteristics of the bionics machine are analysed for optimized structure parameters, w...The paper presents the design of walking leg for bionics crab-like robot, which is driven with micro servo motor. The kinematic characteristics of the bionics machine are analysed for optimized structure parameters, which has been used in the robot design. A three closed loop motor control system structure for joint driver is also given, as well as the multi-joint driving system for walking robot leg.展开更多
The main focus of this work was to design, develop and implementation of competitively robot arm with en- hanced control and stumpy cost. The robot arm was designed with four degrees of freedom and talented to accompl...The main focus of this work was to design, develop and implementation of competitively robot arm with en- hanced control and stumpy cost. The robot arm was designed with four degrees of freedom and talented to accomplish accurately simple tasks, such as light material handling, which will be integrated into a mobile platform that serves as an assistant for industrial workforce. The robot arm is equipped with several servo motors which do links between arms and perform arm movements. The servo motors include encoder so that no controller was implemented. To control the robot we used Labview, which performs inverse kinematic calculations and communicates the proper angles serially to a microcontroller that drives the servo motors with the capability of modifying position, speed and acceleration. Testing and validation of the robot arm was carried out and results shows that it work properly.展开更多
The strategy of active disturbance rejection control （ADRC） and its applications in intelligence evolution for service robot are summarized. It is also shown that the philosophy of ADRC is consistent with the essent...The strategy of active disturbance rejection control （ADRC） and its applications in intelligence evolution for service robot are summarized. It is also shown that the philosophy of ADRC is consistent with the essential characteristics of intelligence evolution. Most importantly, we concentrate on five core issues which will be encountered when applying ADRC to deal with intelligence evolution for service robot, that is, how to eliminate the impact of unknown composite disturbances, how to handle the nonholonomic constraints in uncalibrated visual servoing, how to realize eye-hand-torque coordination, how to deal with the disturbance in simultaneous localization and mapping （SLAM）, and how to reject the imperfections induced by network in human-robot interaction. The main purpose of this paper is to clarify the challenges encountered on intelligence evolution for service robot when one applies ADRC to, hoping that more and more researchers can give some suggestions or work together to deal with these problems, and flourishing results of ADRC from both theory and applications.展开更多
Target tracking is one typical application of visual servoing technology. It is still a difficult task to track high speed target with current visual servo system. The improvement of visual servoing scheme is strongly...Target tracking is one typical application of visual servoing technology. It is still a difficult task to track high speed target with current visual servo system. The improvement of visual servoing scheme is strongly required. A position-based visual servo parallel system is presented for tracking target with high speed. A local Frenet frame is assigned to the sampling point of spatial trajectory. Position estimation is formed by the differential features of intrinsic geometry, and orientation estimation is formed by homogenous transformation. The time spent for searching and processing can be greatly reduced by shifting the window according to features location prediction. The simulation results have demonstrated the ability of the system to track spatial moving object.展开更多
Soft robots show remarkable benefits over conventional rigid robots due to their high energy density and other factors. We propose a circular soft robot integrating the control system, actuating it with several shape ...Soft robots show remarkable benefits over conventional rigid robots due to their high energy density and other factors. We propose a circular soft robot integrating the control system, actuating it with several shape memory alloy (SMA) actuators. Our research methodology involved connecting the DC voltage supply and L298N module to provide uninterrupted power to the actuator and thence control the actuator via Arduino Uno MCU and TOF camera. We designed the controller to simultaneously complete the positioning and manipulation tasks. A novel method utilizing visual servo and closed-loop control algorithm was proposed and integrated into the controller. This method involves the implementation of multi-gait locomotion using SMA actuators. Additionally, the development of closed-loop dynamic controllers for a continuous soft robot is also evaluated. The proposed control model is designed and simulated on the MATLAB tool. To verify the efficiency of the proposed forward-feedback controller, simulations and experiments were conducted in the current study. A new control method using PID control based on the Kalman filtering algorithm and visual servo for the SMA actuator designed in this research is introduced. We conclude that applying spike excitation voltage would benefit the actuating performance. Overall, the experimental results demonstrated a promising future for the purposed control method.展开更多
As a typical bionic walking robot, hydraulic quadruped robot has attracted much attention because of its high mobility, strong load capacity and steady motion. The electro-hydraulic servo cylinder, as its power actuat...As a typical bionic walking robot, hydraulic quadruped robot has attracted much attention because of its high mobility, strong load capacity and steady motion. The electro-hydraulic servo cylinder, as its power actuator, requires low friction, good lateral load resistance and high speed motion. The electro-hydraulic servo cylinder hydrostatic bearing seal guide sleeve is taken as the research object in this paper. By using Fluent software to analyze and contrast the film characteristics of rectangular and I-shaped oil chamber of hydrostatic bearing seal guide sleeve, the relationship between piston rod moving speed, eccentricity, oil film carrying capacity, friction force and leakage volume, as well as the relationship between oil feed flow and oil film bearing capacity, friction force, inlet pressure and leakage volume were analyzed. This study provides a theoretical basis for optimizing the static pressure bearing seal parameters.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.51305293,51135008)
文摘High-speed pick-and-place parallel robot is a system where the inertia imposed on the motor shafts is real-time changing with the system configurations.High quality of computer control with proper controller parameters is conducive to overcoming this problem and has a significant effect on reducing the robot＇s tracking error.By taking Delta robot as an example,a method for parameter tuning of the fixed gain motion controller is presented.Having identifying the parameters of the servo system in the frequency domain by the sinusoidal excitation,the PD＋feedforward control strategy is proposed to adapt to the varying inertia loads,allowing the controller parameters to be tuned by minimizing the mean square tracking error along a typical trajectory.A set of optimum parameters is obtained through computer simulations and the effectiveness of the proposed approach is validated by experiments on a real prototype machine.Let the traveling plate undergoes a specific trajectory and the results show that the tracking error can be reduced by at least 50%in comparison with the conventional auto-tuning and Z-N methods.The proposed approach is a whole workspace optimization and can be applied to the parameter tuning of fixed gain motion controllers.
基金This project was supported by the research foundation of China Education Ministry for the scholars from abroad (2002247).
文摘A learning-based control approach is presented for force servoing of a robot with vision in an unknown environment. Firstly, mapping relationships between image features of the servoing object and the joint angles of the robot are derived and learned by a neural network. Secondly, a learning controller based on the neural network is designed for the robot to trace the object. Thirdly, a discrete time impedance control law is obtained for the force servoing of the robot, the on-line learning algorithms for three neural networks are developed to adjust the impedance parameters of the robot in the unknown environment. Lastly, wiping experiments are carried out by using a 6 DOF industrial robot with a CCD camera and a force/torque sensor in its end effector, and the experimental results confirm the effecti veness of the approach.
基金Supported by National Natural Science Foundation of China（60874002） Key Project of Shanghai Education Committee （09ZZ158） Leading Academic Discipline Project of Shanghai Municipal Government （S30501）
基金This project is supported by National Natural Science Foundation of China (No.59835160).
文摘Performance of giant magnetostrictive material (GMM) is introduced. Principleof work, basic structure and key techniques of giant magnetostrictive actuator (GMA) are analyzed.Its dynamic models of magneto-mechanical coupling are established. The structure and principle ofthe pneumatic servo valve and the micro pipe robot with new homemade GMM are presented. Theexperiment is carried out under typical working conditions. The experiment results show that the GMMpneumatic servo valve has wide pressure control characteristics, good linearity, and fast responsespeed. The movement principles of the GMM robot system are reliably feasible and its maximal movingspeed is about 8 mm/s. It is preferable to the driving frequency of the robot within 100 approx 300Hz.
文摘【目的】针对机器人自主装配研究多聚焦静态目标,移动目标装配相关研究不足的问题,提出一种视觉阻抗控制器的变参数控制方法,以提升机器人在动态环境中目标跟踪与移动装配的适应性和柔顺性。【方法】首先,结合力反馈与视觉反馈信息,在特征空间构建2阶阻抗控制器,为动态装配提供控制基础;其次,将蒙特卡洛随机失活(Monte Carlo Dropout,MCD)作为概率动力学模型,改进概率推理学习控制优化(Probabilistic Inference for Learning Control Optimization,PILCO)算法,平衡状态不确定性推理能力与计算效率;最后,以特征误差和机器人关节位置信息为观测空间,自适应调整控制器阻抗参数,优化动态跟踪与装配性能。【结果】仿真及试验台验证结果表明,相比原高斯过程模型,MCD模型在保留状态不确定性推理能力的同时,显著缩短训练时间(50轮训练时间从43.50 h降至12.82 h);装配成功率从94.5%提升至98.0%,平均装配用时从5.820 s缩短至3.253 s,超调量大幅减少,跟踪响应更及时。研究可为移动目标柔顺装配提供参考。
文摘In present,there are increasing interests in the research on mechanical and control system of underwater vehicles.These ongoing research efforts are motivated by more pervasive applications of such vehicles including seabed oil and gas explorations, scientific deep ocean surveys,military purposes,ecological and water environmental studies,and also entertainments. However,the performance of underwater vehicles with screw type propellers is not prospective in terms of its efficiency and maneuverability.The main weaknesses of this kind of propellers are the production of vortices and sudden generation of thrust forces which make the control of the position and motion difficult. On the other hand,fishes and other aquatic animals are efficient swimmers,posses high maneuverability,are able to follow trajectories,can efficiently stabilize themselves in currents and surges,create less wakes than currently used underwater vehicle, and also have a noiseless propulsion.The fish's locomotion mechanism is mainly controlled by its caudal fin and paired pectoral fins.They are classified into Body and/or Caudal Fin(BCF)and Median and/or paired Pectoral Fins(MPF).The study of highly efficient swimming mechanisms of fish can inspire a better underwater vehicles thruster design and its mechanism. There are few studies on underwater vehicles or fish robots using paired pectoral fins as thruster.The work presented in this paper represents a contribution in this area covering study,design and implementation of locomotion mechanisms of paired pectoral fins in a fish robot.The performance and viability of the biomimetic method for underwater vehicles are highlighted through in-water experiment of a robotic fish.
基金supported by Natural Science Foundation of China (No. 61773374)Key Research and Development Program of China (No. 2017YFB1300104)
文摘In this paper, we propose a method to select the observation position in visual servoing with an eye-in-vehicle configuration for the manipulator. In traditional visual servoing, the images taken by the camera may have various problems, including being out of view, large perspective aberrance, improper projection area of object in images and so on. In this paper, we propose a method to determine the observation position to solve these problems. A mobile robot system with pan-tilt camera is designed, which calculates the observation position based on an observation and then moves there. Both simulation and experimental results are provided to validate the effectiveness of the proposed method.
基金the National Natural Science Foundation of China(60175029).
文摘The paper presents the design of walking leg for bionics crab-like robot, which is driven with micro servo motor. The kinematic characteristics of the bionics machine are analysed for optimized structure parameters, which has been used in the robot design. A three closed loop motor control system structure for joint driver is also given, as well as the multi-joint driving system for walking robot leg.
文摘The main focus of this work was to design, develop and implementation of competitively robot arm with en- hanced control and stumpy cost. The robot arm was designed with four degrees of freedom and talented to accomplish accurately simple tasks, such as light material handling, which will be integrated into a mobile platform that serves as an assistant for industrial workforce. The robot arm is equipped with several servo motors which do links between arms and perform arm movements. The servo motors include encoder so that no controller was implemented. To control the robot we used Labview, which performs inverse kinematic calculations and communicates the proper angles serially to a microcontroller that drives the servo motors with the capability of modifying position, speed and acceleration. Testing and validation of the robot arm was carried out and results shows that it work properly.
文摘The strategy of active disturbance rejection control （ADRC） and its applications in intelligence evolution for service robot are summarized. It is also shown that the philosophy of ADRC is consistent with the essential characteristics of intelligence evolution. Most importantly, we concentrate on five core issues which will be encountered when applying ADRC to deal with intelligence evolution for service robot, that is, how to eliminate the impact of unknown composite disturbances, how to handle the nonholonomic constraints in uncalibrated visual servoing, how to realize eye-hand-torque coordination, how to deal with the disturbance in simultaneous localization and mapping （SLAM）, and how to reject the imperfections induced by network in human-robot interaction. The main purpose of this paper is to clarify the challenges encountered on intelligence evolution for service robot when one applies ADRC to, hoping that more and more researchers can give some suggestions or work together to deal with these problems, and flourishing results of ADRC from both theory and applications.
基金This project is supported by National Electric Power Corporation Foundation of China(No.SPKJ010-27).
文摘Target tracking is one typical application of visual servoing technology. It is still a difficult task to track high speed target with current visual servo system. The improvement of visual servoing scheme is strongly required. A position-based visual servo parallel system is presented for tracking target with high speed. A local Frenet frame is assigned to the sampling point of spatial trajectory. Position estimation is formed by the differential features of intrinsic geometry, and orientation estimation is formed by homogenous transformation. The time spent for searching and processing can be greatly reduced by shifting the window according to features location prediction. The simulation results have demonstrated the ability of the system to track spatial moving object.
文摘Soft robots show remarkable benefits over conventional rigid robots due to their high energy density and other factors. We propose a circular soft robot integrating the control system, actuating it with several shape memory alloy (SMA) actuators. Our research methodology involved connecting the DC voltage supply and L298N module to provide uninterrupted power to the actuator and thence control the actuator via Arduino Uno MCU and TOF camera. We designed the controller to simultaneously complete the positioning and manipulation tasks. A novel method utilizing visual servo and closed-loop control algorithm was proposed and integrated into the controller. This method involves the implementation of multi-gait locomotion using SMA actuators. Additionally, the development of closed-loop dynamic controllers for a continuous soft robot is also evaluated. The proposed control model is designed and simulated on the MATLAB tool. To verify the efficiency of the proposed forward-feedback controller, simulations and experiments were conducted in the current study. A new control method using PID control based on the Kalman filtering algorithm and visual servo for the SMA actuator designed in this research is introduced. We conclude that applying spike excitation voltage would benefit the actuating performance. Overall, the experimental results demonstrated a promising future for the purposed control method.
基金supported by the National 863 Project(2011AA040701)
文摘As a typical bionic walking robot, hydraulic quadruped robot has attracted much attention because of its high mobility, strong load capacity and steady motion. The electro-hydraulic servo cylinder, as its power actuator, requires low friction, good lateral load resistance and high speed motion. The electro-hydraulic servo cylinder hydrostatic bearing seal guide sleeve is taken as the research object in this paper. By using Fluent software to analyze and contrast the film characteristics of rectangular and I-shaped oil chamber of hydrostatic bearing seal guide sleeve, the relationship between piston rod moving speed, eccentricity, oil film carrying capacity, friction force and leakage volume, as well as the relationship between oil feed flow and oil film bearing capacity, friction force, inlet pressure and leakage volume were analyzed. This study provides a theoretical basis for optimizing the static pressure bearing seal parameters.
