A design strategy for a research platform of a telepresence telerobot system based on virtual reality technology is put forward. The design frame of the system is described, and its important core techniques are descr...A design strategy for a research platform of a telepresence telerobot system based on virtual reality technology is put forward. The design frame of the system is described, and its important core techniques are described. An octrees data structure is utilized to build kinematic and dynamic modeling of the virtual simulation environment, Delphi+OpenGL+3DS MAX are adopted to carry through the virtual modeling and visible simulation exploitation of the slave-robot and its environment. Photo-correction is adopted to correct positioning deviation of the virtual geometric model and modeling errors. The cost of software and hardware equipment for the research platform realized is low. The master/slave robot (manipulator) system and all software in the system were designed and manufactured by our research group. The performance of the system has reached the level required for research. An indispensable experiment base is provided for the research of a telepresence telerobot system based on virtual reality technology.展开更多
To solve the problem of inaccurate angle adjustment in the self-assembly process, a new homogenous hybrid modular self-reconfigurable robot-Xmobot is designed. Each module has four rotary joints and a self-turning mec...To solve the problem of inaccurate angle adjustment in the self-assembly process, a new homogenous hybrid modular self-reconfigurable robot-Xmobot is designed. Each module has four rotary joints and a self-turning mechanism. With the proposed self-turning mechanism, the angle adjusting accuracy of the module is increased to 2°, and the relative position adjusting efficiency of the module in the self-assembly process is also improved. The measured maximum moving distance of the proposed module in a gait cycle is 11.0 cm. Aiming at the multiple degree of freedom （MDOF） feature of the proposed module, a motion controller based on the central pattern generator （CPG） is proposed. The control of five joints of the module only requires two CPG oscillators. The CPG-based motion controller has three basic output modes, i. e. the oscillation, the rotation, and the fixed modes. The serpentine and the wheeled movements of the H-shaped robot are simulated, respectively. The results show that the average velocities of the two movements are 15. 2 and 20. 1 m/min, respectively. The proposed CPG-based motion controller is evaluated to be effective.展开更多
Based on the character of the modular self-reconfigurable （MSR） robot, a novel homogeneous and lattice MSR robot, M-Cubes, was designed. Each module unit of the robot has 12 freedoms and is composed of six rotary jo...Based on the character of the modular self-reconfigurable （MSR） robot, a novel homogeneous and lattice MSR robot, M-Cubes, was designed. Each module unit of the robot has 12 freedoms and is composed of six rotary joints and one cubic link. An attached/detached mechanism was designed on the rotary joints. A novel space transmitting system was placed on the inner portion of the cubic link. A motor separately transmitted torque to the six joints which were distributed equally on six surfaces of the cubic link. The example of a basic motion for the module was demonstrated. The result shows that the robot is concise and compact in structure, highly efficient in transmission, credible in connecting, and simple in controlling. At the same time, a simulator is developed to graphically design the system configuration, the reconfiguration process and the motion of cluster modules. The character of local action for the cellular automata （CA） is utilized. Each module is simplified as a cell. The transition rules of the CA are developed to combine with the genetic algorithm （GA） and applied to each module to accomplish distributed control. Simulation proves that the method is effective and feasible.展开更多
In this paper the geometric meaning of robot systems is expounded based on the theory of multibody system. The error accumulation for the known algorithm is analyzed and the cause of ‘Energy consumption’ is revealed...In this paper the geometric meaning of robot systems is expounded based on the theory of multibody system. The error accumulation for the known algorithm is analyzed and the cause of ‘Energy consumption’ is revealed, the relationship between the coefficients of dynamic equation is derived so as to establish the canonical equations. The error accumulation of dynamics can be eliminated by using canonical equations and the symplectic integral method so that the computational accuracy can be ensured effectively. As an example, a planar robotics system is considered.展开更多
In order to meet the polishing requirement of faucets and other products,a novel multi-station rotary polishing robot is designed,which is a PPPR + RR type of degree of freedom( DOF) distribution structure,and is simi...In order to meet the polishing requirement of faucets and other products,a novel multi-station rotary polishing robot is designed,which is a PPPR + RR type of degree of freedom( DOF) distribution structure,and is similar to dual-arm robot. Forward and inverse kinematic analysis is carried out by robot modeling. In order to make this robot structure more compact,first of all,X,Y and Z three moving degrees of freedom( DOF) limit stroke polishing need is calculated by using an artificial fish swarm algorithm,which analyzes dexterous workspace of this robot. Then,on the basis of the above analysis,the three DOF stroke is optimized. Simulation and polishing experimental results verify that this polishing robot with optimized stroke parameters can meet the polishing needs of faucets and other bathroom pieces.展开更多
The new method which uses the consensus algorithm to solve the coordinate control problems of multiple unmanned underwater vehicles （multi-UUVs） formation in the case of leader-following is adapted. As the communica...The new method which uses the consensus algorithm to solve the coordinate control problems of multiple unmanned underwater vehicles （multi-UUVs） formation in the case of leader-following is adapted. As the communication between the UUVs is difficult and it is easy to be interfered under the water, time delay is assumed to be time-varying during the members communicate with each other. Meanwhile, the state feedback linearization method is used to transfer the nonlinear and coupling model of UUV into double-integrator dynamic. With this simplified double-integrator math model, the UUV formation coordinate control is regarded as consensus problem with time-varying communication delays. In addition, the position and velocity topologies are adapted to reduce the data volume in each data packet which is sent between members in formation. With two independent topologies designed, two cases of communication delay which are same and different are considered and the sufficient conditions are proposed and analyzed. The stability of the multi-UUVs formation is proven by using Lyapunov-Razumilkhin theorem. Finally, the simulation results are presented to confirm and illustrate the theoretical results.展开更多
文摘A design strategy for a research platform of a telepresence telerobot system based on virtual reality technology is put forward. The design frame of the system is described, and its important core techniques are described. An octrees data structure is utilized to build kinematic and dynamic modeling of the virtual simulation environment, Delphi+OpenGL+3DS MAX are adopted to carry through the virtual modeling and visible simulation exploitation of the slave-robot and its environment. Photo-correction is adopted to correct positioning deviation of the virtual geometric model and modeling errors. The cost of software and hardware equipment for the research platform realized is low. The master/slave robot (manipulator) system and all software in the system were designed and manufactured by our research group. The performance of the system has reached the level required for research. An indispensable experiment base is provided for the research of a telepresence telerobot system based on virtual reality technology.
基金The National Natural Science Foundation of China(No.61375076)Research&Innovation Program for Graduate Student in Universities of Jiangsu Province(No.CXLX13-085)the Scientific Research Foundation of Graduate School of Southeast University(No.YBJJ1350)
文摘To solve the problem of inaccurate angle adjustment in the self-assembly process, a new homogenous hybrid modular self-reconfigurable robot-Xmobot is designed. Each module has four rotary joints and a self-turning mechanism. With the proposed self-turning mechanism, the angle adjusting accuracy of the module is increased to 2°, and the relative position adjusting efficiency of the module in the self-assembly process is also improved. The measured maximum moving distance of the proposed module in a gait cycle is 11.0 cm. Aiming at the multiple degree of freedom （MDOF） feature of the proposed module, a motion controller based on the central pattern generator （CPG） is proposed. The control of five joints of the module only requires two CPG oscillators. The CPG-based motion controller has three basic output modes, i. e. the oscillation, the rotation, and the fixed modes. The serpentine and the wheeled movements of the H-shaped robot are simulated, respectively. The results show that the average velocities of the two movements are 15. 2 and 20. 1 m/min, respectively. The proposed CPG-based motion controller is evaluated to be effective.
文摘Based on the character of the modular self-reconfigurable （MSR） robot, a novel homogeneous and lattice MSR robot, M-Cubes, was designed. Each module unit of the robot has 12 freedoms and is composed of six rotary joints and one cubic link. An attached/detached mechanism was designed on the rotary joints. A novel space transmitting system was placed on the inner portion of the cubic link. A motor separately transmitted torque to the six joints which were distributed equally on six surfaces of the cubic link. The example of a basic motion for the module was demonstrated. The result shows that the robot is concise and compact in structure, highly efficient in transmission, credible in connecting, and simple in controlling. At the same time, a simulator is developed to graphically design the system configuration, the reconfiguration process and the motion of cluster modules. The character of local action for the cellular automata （CA） is utilized. Each module is simplified as a cell. The transition rules of the CA are developed to combine with the genetic algorithm （GA） and applied to each module to accomplish distributed control. Simulation proves that the method is effective and feasible.
文摘In this paper the geometric meaning of robot systems is expounded based on the theory of multibody system. The error accumulation for the known algorithm is analyzed and the cause of ‘Energy consumption’ is revealed, the relationship between the coefficients of dynamic equation is derived so as to establish the canonical equations. The error accumulation of dynamics can be eliminated by using canonical equations and the symplectic integral method so that the computational accuracy can be ensured effectively. As an example, a planar robotics system is considered.
基金Supported by the Key Research and Development Project of Yangzhou--Industry Preview and Key Projects(No.YZ2015011)
文摘In order to meet the polishing requirement of faucets and other products,a novel multi-station rotary polishing robot is designed,which is a PPPR + RR type of degree of freedom( DOF) distribution structure,and is similar to dual-arm robot. Forward and inverse kinematic analysis is carried out by robot modeling. In order to make this robot structure more compact,first of all,X,Y and Z three moving degrees of freedom( DOF) limit stroke polishing need is calculated by using an artificial fish swarm algorithm,which analyzes dexterous workspace of this robot. Then,on the basis of the above analysis,the three DOF stroke is optimized. Simulation and polishing experimental results verify that this polishing robot with optimized stroke parameters can meet the polishing needs of faucets and other bathroom pieces.
基金Projects(51309067,51679057,51609048)supported by the National Natural Science Foundation of ChinaProject(JC2016007)supported by the Outstanding Youth Science Foundation of Heilongjiang Province,ChinaProject(HEUCFX041401)supported by the Fundamental Research Funds for the Central Universities,China
文摘The new method which uses the consensus algorithm to solve the coordinate control problems of multiple unmanned underwater vehicles （multi-UUVs） formation in the case of leader-following is adapted. As the communication between the UUVs is difficult and it is easy to be interfered under the water, time delay is assumed to be time-varying during the members communicate with each other. Meanwhile, the state feedback linearization method is used to transfer the nonlinear and coupling model of UUV into double-integrator dynamic. With this simplified double-integrator math model, the UUV formation coordinate control is regarded as consensus problem with time-varying communication delays. In addition, the position and velocity topologies are adapted to reduce the data volume in each data packet which is sent between members in formation. With two independent topologies designed, two cases of communication delay which are same and different are considered and the sufficient conditions are proposed and analyzed. The stability of the multi-UUVs formation is proven by using Lyapunov-Razumilkhin theorem. Finally, the simulation results are presented to confirm and illustrate the theoretical results.
