Collision avoidance for a mobile robot based on radial basis function hybrid force control technique

Collision avoidance is always difficult in the planning path for a mobile robot. In this paper, the virtual force field between a mobile robot and an obstacle is formed and regulated to maintain a desired distance by hybrid force control algorithm. Since uncertainties from robot dynamics and obstacle degrade the performance of a collision avoidance task, intelligent control is used to compensate for the uncertainties. A radial basis function （RBF） neural network is used to regulate the force field of an accurate distance between a robot and an obstacle in this paper and then simulation studies are conducted to confirm that the proposed algorithm is effective.

Eddy Currents and Electro-magnetic Forces on the Lower Hybrid Ware Launching Antenna on the Superconducting Tokamak HT-7

This paper analyzes the eddy currents and the electro-magnetic forces on the lower hybrid wave (LHW) launching antenna on the superconducting Tohamak HT-7 by using a finite element circult method. A new iterative algorithm is developed to analyze the coupled magnetic fields Which are very difficult to be calculated. The method and results obtained are helpful to study the eddy currents and electro-magnetic forces on metal plates which are placed in a rather complicated electro-magnetic environment.

Research on Suspension Gravity Compensation System of Lunar Rover with Magnetic Levitation Servo

In order to overcome the shortcomings of the traditional sling suspension method,such as complex structure of suspension truss,large running resistance,and low precision of position servo system,a gravity compensation method of lunar rover based on the combination of active suspension and active position following of magnetic levitation is proposed,and the overall design is carried out.The dynamic model of the suspension module of microgravity compensation system was established,and the decoupling control between the constant force component and the position servo component was analyzed and verified.The constant tension control was achieved by using hybrid force/position control.The position following control was realized by using fuzzy adaptive PID(proportional⁃integral⁃differential)control.The stable suspension control was realized based on the principle of force balance.The simulation results show that the compensation accuracy of constant tension could reach more than 95%,the position deviation was less than 5 mm,the position deviation angle was less than 0.025°,and the air gap recovered stability within 0.1 s.The gravity compensation system has excellent dynamic performance and can meet the requirements of microgravity simulation experiment of lunar rover.

Position/Force Hybrid Control System for High Precision Aligning of Small Gripper to Ring Object

A position/force hybrid control system based on impedance control scheme is designed to align a small gripper to a special ring object. The vision information provided by microscope vision system is used as the feedback to indicate the position relationship between the gripper and the ring object. Multiple image features of the gripper and the ring object are extracted to estimate the relative positions between them. The end-effector of the gripper is tracked using the extracted features to keep the gripper moving in the field of view. The force information from the force sensor serves as the feedback to ensure that the contact force between the gripper and the ring object is limited in a small safe range. Experimental results verify the effectiveness of the proposed control strategy.

Design,analysis and control for an antarctic modular manipulator

Antarctic scientific expedition has important strategic significance. It is an inevitable trend to apply robots to assist researchers during the Antarctic expedition. However, the robot manipula- tors at present have a series of problems and unable to meet the requirements of the Antarctic expe- dition. In this paper, a novel Antarctic modular robot manipulator is proposed, which has a compact structure with modular joints. The robot manipulator has high reliability, and quick assembling-and- disassembling ability. Through well wires arranging and thermal controlling, the manipulator can better adapt to the Antarctic environment. In addition, the work space of the manipulator is serious- ly analyzed, and a new hybrid position/force control method is adopted to make the manipulator per- form better. Simulation results validate the control method and show that the robot manipulator has a good performance to meet the requirements of Antarctic expedition.

Human-robot shared control system based on 3D point cloud and teleoperation

Owing to the constraints of unstructured environments,it is difficult to ensure safe,accurate,and smooth completion of tasks using autonomous robots.Moreover,for small-batch and customized tasks,autonomous operation requires path planning for each task,thus reducing efficiency.We propose a human-robot shared control system based on a 3D point cloud and teleoperation for a robot to assist human operators in the performance of dangerous and cumbersome tasks.The system leverages the operator’s skills and experience to deal with emergencies and perform online error correction.In this framework,a depth camera acquires the 3D point cloud of the target object to automatically adjust the end-effector orientation.The operator controls the manipulator trajectory through a teleoperation device.The force exerted by the manipulator on the object is automatically adjusted by the robot,thus reducing the workload for the operator and improving the efficiency of task execution.In addition,hybrid force/motion control is used to decouple teleoperation from force control to ensure that force and position regulation will not interfere with each other.The proposed framework was validated using the ELITE robot to perform a force control scanning task.