Dear Editor,This letter considers the formation control of multiple mobile robot systems(MMRS)that only relies on the local observation information.A new distributed finite-time observer is proposed for MMRS under dir...Dear Editor,This letter considers the formation control of multiple mobile robot systems(MMRS)that only relies on the local observation information.A new distributed finite-time observer is proposed for MMRS under directed graph to estimate the relative information between each follower robot and the leader robot.Then the formation control problem is transformed into the tracking problem and a finite-time tracking controller is proposed based on the robot model feature.展开更多
Objective:To assess the safety and effectiveness of urological tumor surgeries using the hinotori^(TM)Surgical Robot System(hinotori)in a real-world clinical setting.Methods:All surgeries including robot-assisted radi...Objective:To assess the safety and effectiveness of urological tumor surgeries using the hinotori^(TM)Surgical Robot System(hinotori)in a real-world clinical setting.Methods:All surgeries including robot-assisted radical prostatectomy(RARP),robot-assisted partial nephrectomy(RAPN),robot-assisted radical nephrectomy(RARN),robot-assisted nephroureterectomy(RANU),robot-assisted adrenalectomy(RAA),and robot-assisted radical cystectomy with intracorporeal urinary diversion(RARC+ICUD)for urological tumors with the hinotori and da Vinci surgical system(da Vinci)from January 2022 to September 2023 were enrolled.We evaluated the safety and effectiveness of surgeries using the hinotori compared with those using the da Vinci.Results:Robotic surgeries using the hinotori were performed in a total of 91 cases,comprising 42 cases of RARP,18 cases of RAPN,six cases of RARN,10 cases of RANU,13 cases of RAA,and two cases of RARC+ICUD;no major intraoperative complications were observed in any of the cases using the hinotori;no major postoperative complications occurred in any of the cases;no case experienced an unrecoverable equipment error during surgery.Meanwhile,robotic surgeries using the da Vinci were performed in a total of 277 cases,comprising 126 cases of RARP,94 cases of RAPN,12 cases of RARN,10 cases of RANU,20 cases of RAA,and 15 cases of RARC+ICUD;major intraoperative complications occurred in two cases;major postoperative complications occurred in seven cases;seven cases required transfusion;one case underwent conversion to open surgery;during the study period,no case experienced an unrecoverable equipment error.Surgical outcomes for cases with the hinotori were comparable to those with the da Vinci.Conclusion:This study demonstrated that the hinotori is a safe and feasible tool for robotic surgeries in the field of urology.展开更多
As a cross-cutting field between ocean development and multi-robot system(MRS),the underwater multi-robot system(UMRS)has gained increasing attention from researchers and engineers in recent decades.In this paper,we p...As a cross-cutting field between ocean development and multi-robot system(MRS),the underwater multi-robot system(UMRS)has gained increasing attention from researchers and engineers in recent decades.In this paper,we present a comprehensive survey of cooperation issues,one of the key components of UMRS,from the perspective of the emergence of new functions.More specifically,we categorize the cooperation in terms of task-space,motion-space,measurement-space,as well as their combination.Further,we analyze the architecture of UMRS from three aspects,i.e.,the performance of the individual underwater robot,the new functions of underwater robots,and the technical approaches of MRS.To conclude,we have discussed related promising directions for future research.This survey provides valuable insight into the reasonable utilization of UMRS to attain diverse underwater tasks in complex ocean application scenarios.展开更多
Nowadays, robots generally have a variety of capabilities, which often form a coalition replacing human to work in dangerous environment, such as rescue, exploration, etc. In these operating conditions, the energy sup...Nowadays, robots generally have a variety of capabilities, which often form a coalition replacing human to work in dangerous environment, such as rescue, exploration, etc. In these operating conditions, the energy supply of robots usually cannot be guaranteed. If the energy resources of some robots are consumed too fast, the number of the future tasks of the coalition will be affected. This paper will develop a novel task allocation method based on Gini coefficient to make full use of limited energy resources of multi-robot system to maximize the number of tasks. At the same time, considering resources consumption,we incorporate the market-based allocation mechanism into our Gini coefficient-based method and propose a hybrid method,which can flexibly optimize the task completion number and the resource consumption according to the application contexts.Experiments show that the multi-robot system with limited energy resources can accomplish more tasks by the proposed Gini coefficient-based method, and the hybrid method can be dynamically adaptive to changes of the work environment and realize the dual optimization goals.展开更多
This paper proposes a general plan and coordination strategy for robot system. The state space for robot system is constructed according to the task requirement and system characteristic. Reachable state of the system...This paper proposes a general plan and coordination strategy for robot system. The state space for robot system is constructed according to the task requirement and system characteristic. Reachable state of the system is figured out by the system’s internal and external constraints. Task plan and coordination are then transformed as trajectory solving problem in the state space, by which the realizable conditions for the given task are discussed. If the task is realizable, the optimal strategy for task execution could be investigated and obtained in state space. Otherwise, it could be transformed to be realizable via adjusting the system configuration and/or task constraint, and the transformation condition could also be determined. This contributes to design, plan, and coordination of the robotic tasks. Experiments of the manipulator path planning and multi-robot formation movement are conducted to show the validity and generalization of the proposed method.展开更多
This paper proposes robot position control using force information for cooperative work between two remote robot systems with force feedback in each of which a user operates a remote robot by using a haptic interface ...This paper proposes robot position control using force information for cooperative work between two remote robot systems with force feedback in each of which a user operates a remote robot by using a haptic interface device while observing work of the robot with a video camera. We also investigate the effect of the proposed control by experiment. As cooperative work, we deal with work in which two robots carry an object together. The robot position control using force information finely adjusts the position of the robot arm to reduce the force applied to the object. Thus, the purpose of the control is to avoid large force so that the object is not broken. In our experiment, we make a comparison among the following three cases in order to clarify how to carry out the control effectively. In the first case, the two robots are operated manually by a user with his/her both hands. In the second case, one robot is operated manually by a user, and the other robot is moved automatically under the proposed control. In the last case, the object is carried directly by a human instead of the robot which is operated by the user in the second case. As a result, experimental results demonstrate that the control can help each system operated manually by the user to carry the object smoothly.展开更多
Robots in the medical industry are becoming more common in daily life because of various advantages such as quick response,less human interference,high dependability,improved hygiene,and reduced aging effects.That is ...Robots in the medical industry are becoming more common in daily life because of various advantages such as quick response,less human interference,high dependability,improved hygiene,and reduced aging effects.That is why,in recent years,robotic aid has emerged as a blossoming solution to many challenges in the medical industry.In this manuscript,meta-heuristics(MH)algorithms,specifically the Firefly Algorithm(FF)and Genetic Algorithm(GA),are applied to tune PID controller constraints such as Proportional gain Kp Integral gain Ki and Derivative gain Kd.The controller is used to control Mobile Robot System(MRS)at the required set point.The FF arrangements are made based on various pre-analysis.A detailed simulation study indicates that the proposed PID controller tuned with Firefly Algorithm(FF-PID)for MRSis beneficial and suitable to achieve desired closed-loop system response.The FF is touted as providing an easy,reliable,and efficient tuning technique for PID controllers.The most suitable ideal performance is accomplished with FF-PID,according to the display in the time response.Further,the observed response is compared to those received by applying GA and conventional off-line tuning techniques.The comparison of all tuning methods exhibits supremacy of FF-PID tuning of the given nonlinear Mobile Robot System than GA-PID tuning and conventional controller.展开更多
In this paper,the adaptive robust simultaneous stabilization problem of uncertain multiple n-degree-of-freedom(n-DOF)robot systems is studied using the Hamiltonian function method,and the corresponding adaptive L2 con...In this paper,the adaptive robust simultaneous stabilization problem of uncertain multiple n-degree-of-freedom(n-DOF)robot systems is studied using the Hamiltonian function method,and the corresponding adaptive L2 controller is designed.First,we investigate the adaptive simultaneous stabilization problem of uncertain multiple n-DOF robot systems without external disturbance.Namely,the single uncertain n-DOF robot system is transformed into an equivalent Hamiltonian form using the unified partial derivative operator(UP-DO)and potential energy shaping method,and then a high dimensional Hamiltonian system for multiple uncertain robot systems is obtained by applying augmented dimension technology,and a single output feedback controller is designed to ensure the simultaneous stabilization for the higher dimensional Hamiltonian system.On this basis,we further study the adaptive robust simultaneous stabilization control problem for the uncertain multiple n-DOF robot systems with external disturbances,and design an adaptive robust simultaneous stabilization controller.Finally,the simulation results show that the adaptive robust simultaneous stabilization controller designed in this paper is very effective in stabilizing multi-robot systems at the same time.展开更多
A new coordination scheme for multi-robot systems is proposed. A state space model of the multi- robot system is defined and constructed in which the system＇s initial and goal states are included along with the task ...A new coordination scheme for multi-robot systems is proposed. A state space model of the multi- robot system is defined and constructed in which the system＇s initial and goal states are included along with the task definition and the system＇s internal and external constraints. Task accomplishment is considered a transition of the system state in its state space （SS） under the system＇s constraints. Therefore, if there exists a connectable path within reachable area of the SS from the initial state to the goal state, the task is realizable. The optimal strategy for the task realization under constraints is investigated and reached by searching for the optimal state transition trajectory of the robot system in the SS. Moreover, if there is no connectable path, which means the task cannot be performed Successfully, the task could be transformed to be realizable by making the initial state and the goal state connectable and finding a path connecting them in the system＇s SS. This might be done via adjusting the system＇s configuration and/or task constraints. Experiments of multi-robot formation control with obstacles in the environment are conducted and simulation results show the validity of the proposed method.展开更多
Analysis and design techniques for cooperative flocking of nonholonomic multi-robot systems with connectivity maintenance on directed graphs are presented. First, a set of bounded and smoothly distributed control prot...Analysis and design techniques for cooperative flocking of nonholonomic multi-robot systems with connectivity maintenance on directed graphs are presented. First, a set of bounded and smoothly distributed control protocols are devised via carefully designing a class of bounded artificial potential fields （APF） which could guarantee the connectivity maintenance, col ision avoidance and distance stabilization simultaneously during the system evolution. The connectivity of the underlying network can be preserved, and the desired stable flocking behavior can be achieved provided that the initial communication topology is strongly connected rather than undirected or balanced, which relaxes the constraints for group topology and extends the previous work to more generalized directed graphs. Furthermore, the proposed control algorithm is extended to solve the flocking problem with a virtual leader. In this case, it is shown that al robots can asymptotically move with the desired velocity and orientation even if there is only one informed robot in the team. Finally, nontrivial simulations and experiments are conducted to verify the effectiveness of the proposed algorithm.展开更多
The study treats a specific technological approach for the elaboration of small manufacturing series of highly precise hyperboloid gears with small module of the teeth and with not big dimensions of the gear mechanism...The study treats a specific technological approach for the elaboration of small manufacturing series of highly precise hyperboloid gears with small module of the teeth and with not big dimensions of the gear mechanism. It is based on the application of the elaborated by authors mathematical models, algorithms and computer programs for synthesis upon a pitch contact point and upon a mesh region. A special feature of the established approach is the application of 3D software prototyping and 3D printing of the designed transmissions. The presented here models of the transmissions with crossed axes and face mated gears are indented for implementation into the driving of two type robots: bio-robot hand and walking robot with four insect-type legs.展开更多
An improved single-neuron proportional integral derivative （ PID ） controller and a new method to build the DC motor system were presented in the article. In the simulation, the robot arm is considered as an externa...An improved single-neuron proportional integral derivative （ PID ） controller and a new method to build the DC motor system were presented in the article. In the simulation, the robot arm is considered as an external load to DC motor. Both the motor module and the load module are crea- ted in Simulink to achieve simulation results closer to real robot system. In this way, it can well veri- fy the performance of the improved single-neuron PID controller, which is a combined controller of normal PID controller and single-neuron PID controller. Besides, an intelligent switcher can help to realize the function of choosing a better control algorithm according to motor＇ s velocity output. Sim- ulated results confirm the rapid and stable response of the improved PID controller. Moreover, the improved single-neuron PID controller has an excellent ability to overcome the load impact and su- press the jamming signals. At last, a GUI interface platform is built to make the controller easier to be applied in other robot systems.展开更多
In this paper, we propose an adaptive fuzzy dynamic surface control(DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal w...In this paper, we propose an adaptive fuzzy dynamic surface control(DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal with the difficulties associated with input saturation. An adaptive DSC design with an auxiliary first-order filter is used to solve the "explosion of complexity"problem. It is proved that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded, and the tracking error eventually converges to a small neighborhood around zero. The main advantage of the proposed method is that only one adaptation parameter needs to be updated,which reduces the computational burden significantly. Simulation results demonstrate the feasibility of the proposed scheme and the comparison results show that the improved DSC method can reduce the computational burden by almost two thirds in comparison with the standard DSC method.展开更多
This paper proposes an intelligent controller for motion control of robotic systems to obtain high precision tracking without the need for a real-time trial and error method.In addition, a new self-tuning algorithm ha...This paper proposes an intelligent controller for motion control of robotic systems to obtain high precision tracking without the need for a real-time trial and error method.In addition, a new self-tuning algorithm has been developed based on both the ant colony algorithm and a fuzzy system for real-time tuning of controller parameters. Simulations and experiments using a real robot have been addressed to demonstrate the success of the proposed controller and validate the theoretical analysis. Obtained results confirm that the proposed controller ensures robust performance in the presence of disturbances and parametric uncertainties without the need for adjustment of control law parameters by a trial and error method.展开更多
A novel 5-DOF exoskeletal rehabilitation robot for upper limbs of hemiplegic patients caused by stroke is proposed in this paper. Its hardware structure is introduced and the control methods are ana- lyzed. To impleme...A novel 5-DOF exoskeletal rehabilitation robot for upper limbs of hemiplegic patients caused by stroke is proposed in this paper. Its hardware structure is introduced and the control methods are ana- lyzed. To implement intelligent and interactive rehabilitation exercises, motion intention of patients＇ up- per limb is introduced into control methods of rehabilitation exercises. In passive motions, according to the character of unilateral impaired, multi-channels surface electromyogram （sEMG） signals of patients＇ healthy arm muscles are acquired and analyzed to recognize the upper limb motions, then drive the robot and assist paralysis ann＇s rehabilitation exercises. In active-resistant motions, because patients are re- covered with some muscle forces and active motion ability after a rehabilitation period, the terminal force loaded on the robot by an impaired arm are estimated with multi-channel joint torque sensors, according to which, the terminal velocity of the robot is controlled to drive the joint motions with a damp controller.展开更多
To date, many studies related to robots have been performed around the world. Many of these studies have assumed operation at locations where entry is difficult, such as disaster sites, and have focused on various ter...To date, many studies related to robots have been performed around the world. Many of these studies have assumed operation at locations where entry is difficult, such as disaster sites, and have focused on various terrestrial robots, such as snake-like, humanoid, spider-type, and wheeled units. Another area of active research in recent years has been aerial robots with small helicopters for operation indoors and outdoors. However,less research has been performed on robots that operate both on the ground and in the air. Accordingly, in this paper, we propose a hybrid aerial/terrestrial robot system. The proposed robot system was developed by equipping a quadcopter with a mechanism for ground movement. It does not use power dedicated to ground movement, and instead uses the flight mechanism of the quadcopter to achieve ground movement as well. Furthermore, we addressed the issue of obstacle avoidance as part of studies on autonomous control. Thus, we found that autonomous control of ground movement and flight was possible for the hybrid aerial/terrestrial robot system, as was autonomous obstacle avoidance by flight when an obstacle appeared during ground movement.展开更多
In this paper, we deal with a remote robot system in which a user can operate an industrial robot with a force sensor at a remote location by using a haptic interface device. We apply a method using the wave filter to...In this paper, we deal with a remote robot system in which a user can operate an industrial robot with a force sensor at a remote location by using a haptic interface device. We apply a method using the wave filter together with the phase control filter which was previously proposed by the authors to the remote robot system for stabilization control. We also propose a method to enhance the haptic quality. By experiment, we demonstrate the effectiveness of the proposed method. We compare the proposed method with the conventional method quantitatively and clarify which domains the proposed method is applied to more effectively.展开更多
This paper presents a novel observer-based controller for a class of nonlinear multi-agent robot models using the high order sliding mode consensus protocol. In many applications, demand for autonomous vehicles is gro...This paper presents a novel observer-based controller for a class of nonlinear multi-agent robot models using the high order sliding mode consensus protocol. In many applications, demand for autonomous vehicles is growing;omnidirectional wheeled robots are suggested to meet this demand. They are flexible, fast, and autonomous, able to find the best direction and can move on an optional path at any time. Multi-agent omnidirectional wheeled robot(MOWR) systems consist of several similar or different robots and there are multiple different interactions between their agents, thus the MOWR systems have complex dynamics. Hence, designing a robust reliable controller for the nonlinear MOWR operations is considered an important obstacles in the science of the control design. A high order sliding mode is selected in this work that is a suitable technique for implementing a robust controller for nonlinear complex dynamics models. Furthermore, the proposed method ensures all signals involved in the multi-agent system(MAS) are uniformly ultimately bounded and the system is robust against the external disturbances and uncertainties. Theoretical analysis of candidate Lyapunov functions has been presented to depict the stability of the overall MAS, the convergence of observer and tracking error to zero, and the reduction of the chattering phenomena. In order to illustrate the promising performance of the methodology, the observer is applied to two nonlinear dynamic omnidirectional wheeled robots. The results display the meritorious performance of the scheme.展开更多
基金supported by the National Natural Science Foundation of China(62073113,62003122,62303148)the Fundamental Research Funds for the Central Universities(MCCSE2023A01,JZ2023HGTA0201,JZ2023HGQA0109)the Anhui Provincial Natural Science Foundation(2308085QF204)
文摘Dear Editor,This letter considers the formation control of multiple mobile robot systems(MMRS)that only relies on the local observation information.A new distributed finite-time observer is proposed for MMRS under directed graph to estimate the relative information between each follower robot and the leader robot.Then the formation control problem is transformed into the tracking problem and a finite-time tracking controller is proposed based on the robot model feature.
文摘Objective:To assess the safety and effectiveness of urological tumor surgeries using the hinotori^(TM)Surgical Robot System(hinotori)in a real-world clinical setting.Methods:All surgeries including robot-assisted radical prostatectomy(RARP),robot-assisted partial nephrectomy(RAPN),robot-assisted radical nephrectomy(RARN),robot-assisted nephroureterectomy(RANU),robot-assisted adrenalectomy(RAA),and robot-assisted radical cystectomy with intracorporeal urinary diversion(RARC+ICUD)for urological tumors with the hinotori and da Vinci surgical system(da Vinci)from January 2022 to September 2023 were enrolled.We evaluated the safety and effectiveness of surgeries using the hinotori compared with those using the da Vinci.Results:Robotic surgeries using the hinotori were performed in a total of 91 cases,comprising 42 cases of RARP,18 cases of RAPN,six cases of RARN,10 cases of RANU,13 cases of RAA,and two cases of RARC+ICUD;no major intraoperative complications were observed in any of the cases using the hinotori;no major postoperative complications occurred in any of the cases;no case experienced an unrecoverable equipment error during surgery.Meanwhile,robotic surgeries using the da Vinci were performed in a total of 277 cases,comprising 126 cases of RARP,94 cases of RAPN,12 cases of RARN,10 cases of RANU,20 cases of RAA,and 15 cases of RARC+ICUD;major intraoperative complications occurred in two cases;major postoperative complications occurred in seven cases;seven cases required transfusion;one case underwent conversion to open surgery;during the study period,no case experienced an unrecoverable equipment error.Surgical outcomes for cases with the hinotori were comparable to those with the da Vinci.Conclusion:This study demonstrated that the hinotori is a safe and feasible tool for robotic surgeries in the field of urology.
基金This work was supported in part by the National Natural Science Foundation of China(U1909206,61725305,61903007,62073196)in part by the S&T Program of Hebei(F2020203037).
文摘As a cross-cutting field between ocean development and multi-robot system(MRS),the underwater multi-robot system(UMRS)has gained increasing attention from researchers and engineers in recent decades.In this paper,we present a comprehensive survey of cooperation issues,one of the key components of UMRS,from the perspective of the emergence of new functions.More specifically,we categorize the cooperation in terms of task-space,motion-space,measurement-space,as well as their combination.Further,we analyze the architecture of UMRS from three aspects,i.e.,the performance of the individual underwater robot,the new functions of underwater robots,and the technical approaches of MRS.To conclude,we have discussed related promising directions for future research.This survey provides valuable insight into the reasonable utilization of UMRS to attain diverse underwater tasks in complex ocean application scenarios.
基金supported by the National High Technology Research and Development Program of China(863 Program)(2015AA015403)the National Natural Science Foundation of China(61404069,61401185)the Project of Education Department of Liaoning Province(LJYL052)
文摘Nowadays, robots generally have a variety of capabilities, which often form a coalition replacing human to work in dangerous environment, such as rescue, exploration, etc. In these operating conditions, the energy supply of robots usually cannot be guaranteed. If the energy resources of some robots are consumed too fast, the number of the future tasks of the coalition will be affected. This paper will develop a novel task allocation method based on Gini coefficient to make full use of limited energy resources of multi-robot system to maximize the number of tasks. At the same time, considering resources consumption,we incorporate the market-based allocation mechanism into our Gini coefficient-based method and propose a hybrid method,which can flexibly optimize the task completion number and the resource consumption according to the application contexts.Experiments show that the multi-robot system with limited energy resources can accomplish more tasks by the proposed Gini coefficient-based method, and the hybrid method can be dynamically adaptive to changes of the work environment and realize the dual optimization goals.
基金the National Natural Science Foundation of China (No. 60675041)the Program for New Century Excellent Talents in University (No. NCET-06-0398)
文摘This paper proposes a general plan and coordination strategy for robot system. The state space for robot system is constructed according to the task requirement and system characteristic. Reachable state of the system is figured out by the system’s internal and external constraints. Task plan and coordination are then transformed as trajectory solving problem in the state space, by which the realizable conditions for the given task are discussed. If the task is realizable, the optimal strategy for task execution could be investigated and obtained in state space. Otherwise, it could be transformed to be realizable via adjusting the system configuration and/or task constraint, and the transformation condition could also be determined. This contributes to design, plan, and coordination of the robotic tasks. Experiments of the manipulator path planning and multi-robot formation movement are conducted to show the validity and generalization of the proposed method.
文摘This paper proposes robot position control using force information for cooperative work between two remote robot systems with force feedback in each of which a user operates a remote robot by using a haptic interface device while observing work of the robot with a video camera. We also investigate the effect of the proposed control by experiment. As cooperative work, we deal with work in which two robots carry an object together. The robot position control using force information finely adjusts the position of the robot arm to reduce the force applied to the object. Thus, the purpose of the control is to avoid large force so that the object is not broken. In our experiment, we make a comparison among the following three cases in order to clarify how to carry out the control effectively. In the first case, the two robots are operated manually by a user with his/her both hands. In the second case, one robot is operated manually by a user, and the other robot is moved automatically under the proposed control. In the last case, the object is carried directly by a human instead of the robot which is operated by the user in the second case. As a result, experimental results demonstrate that the control can help each system operated manually by the user to carry the object smoothly.
文摘Robots in the medical industry are becoming more common in daily life because of various advantages such as quick response,less human interference,high dependability,improved hygiene,and reduced aging effects.That is why,in recent years,robotic aid has emerged as a blossoming solution to many challenges in the medical industry.In this manuscript,meta-heuristics(MH)algorithms,specifically the Firefly Algorithm(FF)and Genetic Algorithm(GA),are applied to tune PID controller constraints such as Proportional gain Kp Integral gain Ki and Derivative gain Kd.The controller is used to control Mobile Robot System(MRS)at the required set point.The FF arrangements are made based on various pre-analysis.A detailed simulation study indicates that the proposed PID controller tuned with Firefly Algorithm(FF-PID)for MRSis beneficial and suitable to achieve desired closed-loop system response.The FF is touted as providing an easy,reliable,and efficient tuning technique for PID controllers.The most suitable ideal performance is accomplished with FF-PID,according to the display in the time response.Further,the observed response is compared to those received by applying GA and conventional off-line tuning techniques.The comparison of all tuning methods exhibits supremacy of FF-PID tuning of the given nonlinear Mobile Robot System than GA-PID tuning and conventional controller.
文摘In this paper,the adaptive robust simultaneous stabilization problem of uncertain multiple n-degree-of-freedom(n-DOF)robot systems is studied using the Hamiltonian function method,and the corresponding adaptive L2 controller is designed.First,we investigate the adaptive simultaneous stabilization problem of uncertain multiple n-DOF robot systems without external disturbance.Namely,the single uncertain n-DOF robot system is transformed into an equivalent Hamiltonian form using the unified partial derivative operator(UP-DO)and potential energy shaping method,and then a high dimensional Hamiltonian system for multiple uncertain robot systems is obtained by applying augmented dimension technology,and a single output feedback controller is designed to ensure the simultaneous stabilization for the higher dimensional Hamiltonian system.On this basis,we further study the adaptive robust simultaneous stabilization control problem for the uncertain multiple n-DOF robot systems with external disturbances,and design an adaptive robust simultaneous stabilization controller.Finally,the simulation results show that the adaptive robust simultaneous stabilization controller designed in this paper is very effective in stabilizing multi-robot systems at the same time.
基金the National Natural Science Foundation of China (60428303).
文摘A new coordination scheme for multi-robot systems is proposed. A state space model of the multi- robot system is defined and constructed in which the system＇s initial and goal states are included along with the task definition and the system＇s internal and external constraints. Task accomplishment is considered a transition of the system state in its state space （SS） under the system＇s constraints. Therefore, if there exists a connectable path within reachable area of the SS from the initial state to the goal state, the task is realizable. The optimal strategy for the task realization under constraints is investigated and reached by searching for the optimal state transition trajectory of the robot system in the SS. Moreover, if there is no connectable path, which means the task cannot be performed Successfully, the task could be transformed to be realizable by making the initial state and the goal state connectable and finding a path connecting them in the system＇s SS. This might be done via adjusting the system＇s configuration and/or task constraints. Experiments of multi-robot formation control with obstacles in the environment are conducted and simulation results show the validity of the proposed method.
基金supported by the National Natural Science Foundation of China(61175112)the Foundation for Innovative Research Groups of the National Natural Science Foundation of China(G61321002)+3 种基金the Projects of Major International(Regional)Joint Research Program(61120106010)the Beijing Education Committee Cooperation Building Foundationthe Program for Changjiang Scholars and Innovative Research Team in University(IRT1208)the ChangJiang Scholars Program and the Beijing Outstanding Ph.D.Program Mentor Grant(20131000704)
文摘Analysis and design techniques for cooperative flocking of nonholonomic multi-robot systems with connectivity maintenance on directed graphs are presented. First, a set of bounded and smoothly distributed control protocols are devised via carefully designing a class of bounded artificial potential fields （APF） which could guarantee the connectivity maintenance, col ision avoidance and distance stabilization simultaneously during the system evolution. The connectivity of the underlying network can be preserved, and the desired stable flocking behavior can be achieved provided that the initial communication topology is strongly connected rather than undirected or balanced, which relaxes the constraints for group topology and extends the previous work to more generalized directed graphs. Furthermore, the proposed control algorithm is extended to solve the flocking problem with a virtual leader. In this case, it is shown that al robots can asymptotically move with the desired velocity and orientation even if there is only one informed robot in the team. Finally, nontrivial simulations and experiments are conducted to verify the effectiveness of the proposed algorithm.
文摘The study treats a specific technological approach for the elaboration of small manufacturing series of highly precise hyperboloid gears with small module of the teeth and with not big dimensions of the gear mechanism. It is based on the application of the elaborated by authors mathematical models, algorithms and computer programs for synthesis upon a pitch contact point and upon a mesh region. A special feature of the established approach is the application of 3D software prototyping and 3D printing of the designed transmissions. The presented here models of the transmissions with crossed axes and face mated gears are indented for implementation into the driving of two type robots: bio-robot hand and walking robot with four insect-type legs.
文摘An improved single-neuron proportional integral derivative （ PID ） controller and a new method to build the DC motor system were presented in the article. In the simulation, the robot arm is considered as an external load to DC motor. Both the motor module and the load module are crea- ted in Simulink to achieve simulation results closer to real robot system. In this way, it can well veri- fy the performance of the improved single-neuron PID controller, which is a combined controller of normal PID controller and single-neuron PID controller. Besides, an intelligent switcher can help to realize the function of choosing a better control algorithm according to motor＇ s velocity output. Sim- ulated results confirm the rapid and stable response of the improved PID controller. Moreover, the improved single-neuron PID controller has an excellent ability to overcome the load impact and su- press the jamming signals. At last, a GUI interface platform is built to make the controller easier to be applied in other robot systems.
基金supported in part by the National Natural Science Foundation of China (61773051,61773072,61761166011)the Fundamental Research Fund for the Central Universities (2016RC021,2017JBZ003)
文摘In this paper, we propose an adaptive fuzzy dynamic surface control(DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal with the difficulties associated with input saturation. An adaptive DSC design with an auxiliary first-order filter is used to solve the "explosion of complexity"problem. It is proved that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded, and the tracking error eventually converges to a small neighborhood around zero. The main advantage of the proposed method is that only one adaptation parameter needs to be updated,which reduces the computational burden significantly. Simulation results demonstrate the feasibility of the proposed scheme and the comparison results show that the improved DSC method can reduce the computational burden by almost two thirds in comparison with the standard DSC method.
文摘This paper proposes an intelligent controller for motion control of robotic systems to obtain high precision tracking without the need for a real-time trial and error method.In addition, a new self-tuning algorithm has been developed based on both the ant colony algorithm and a fuzzy system for real-time tuning of controller parameters. Simulations and experiments using a real robot have been addressed to demonstrate the success of the proposed controller and validate the theoretical analysis. Obtained results confirm that the proposed controller ensures robust performance in the presence of disturbances and parametric uncertainties without the need for adjustment of control law parameters by a trial and error method.
基金supported by the High Technology Research and Development Programme of China(No.2004AA421030)
文摘A novel 5-DOF exoskeletal rehabilitation robot for upper limbs of hemiplegic patients caused by stroke is proposed in this paper. Its hardware structure is introduced and the control methods are ana- lyzed. To implement intelligent and interactive rehabilitation exercises, motion intention of patients＇ up- per limb is introduced into control methods of rehabilitation exercises. In passive motions, according to the character of unilateral impaired, multi-channels surface electromyogram （sEMG） signals of patients＇ healthy arm muscles are acquired and analyzed to recognize the upper limb motions, then drive the robot and assist paralysis ann＇s rehabilitation exercises. In active-resistant motions, because patients are re- covered with some muscle forces and active motion ability after a rehabilitation period, the terminal force loaded on the robot by an impaired arm are estimated with multi-channel joint torque sensors, according to which, the terminal velocity of the robot is controlled to drive the joint motions with a damp controller.
文摘To date, many studies related to robots have been performed around the world. Many of these studies have assumed operation at locations where entry is difficult, such as disaster sites, and have focused on various terrestrial robots, such as snake-like, humanoid, spider-type, and wheeled units. Another area of active research in recent years has been aerial robots with small helicopters for operation indoors and outdoors. However,less research has been performed on robots that operate both on the ground and in the air. Accordingly, in this paper, we propose a hybrid aerial/terrestrial robot system. The proposed robot system was developed by equipping a quadcopter with a mechanism for ground movement. It does not use power dedicated to ground movement, and instead uses the flight mechanism of the quadcopter to achieve ground movement as well. Furthermore, we addressed the issue of obstacle avoidance as part of studies on autonomous control. Thus, we found that autonomous control of ground movement and flight was possible for the hybrid aerial/terrestrial robot system, as was autonomous obstacle avoidance by flight when an obstacle appeared during ground movement.
文摘In this paper, we deal with a remote robot system in which a user can operate an industrial robot with a force sensor at a remote location by using a haptic interface device. We apply a method using the wave filter together with the phase control filter which was previously proposed by the authors to the remote robot system for stabilization control. We also propose a method to enhance the haptic quality. By experiment, we demonstrate the effectiveness of the proposed method. We compare the proposed method with the conventional method quantitatively and clarify which domains the proposed method is applied to more effectively.
文摘This paper presents a novel observer-based controller for a class of nonlinear multi-agent robot models using the high order sliding mode consensus protocol. In many applications, demand for autonomous vehicles is growing;omnidirectional wheeled robots are suggested to meet this demand. They are flexible, fast, and autonomous, able to find the best direction and can move on an optional path at any time. Multi-agent omnidirectional wheeled robot(MOWR) systems consist of several similar or different robots and there are multiple different interactions between their agents, thus the MOWR systems have complex dynamics. Hence, designing a robust reliable controller for the nonlinear MOWR operations is considered an important obstacles in the science of the control design. A high order sliding mode is selected in this work that is a suitable technique for implementing a robust controller for nonlinear complex dynamics models. Furthermore, the proposed method ensures all signals involved in the multi-agent system(MAS) are uniformly ultimately bounded and the system is robust against the external disturbances and uncertainties. Theoretical analysis of candidate Lyapunov functions has been presented to depict the stability of the overall MAS, the convergence of observer and tracking error to zero, and the reduction of the chattering phenomena. In order to illustrate the promising performance of the methodology, the observer is applied to two nonlinear dynamic omnidirectional wheeled robots. The results display the meritorious performance of the scheme.
