Automatic control technology is the basis of road robot improvement,according to the characteristics of construction equipment and functions,the research will be input type perception from positioning acquisition,real...Automatic control technology is the basis of road robot improvement,according to the characteristics of construction equipment and functions,the research will be input type perception from positioning acquisition,real-world monitoring,the process will use RTK-GNSS positional perception technology,by projecting the left side of the earth from Gauss-Krueger projection method,and then carry out the Cartesian conversion based on the characteristics of drawing;steering control system is the core of the electric drive unmanned module,on the basis of the analysis of the composition of the steering system of unmanned engineering vehicles,the steering system key components such as direction,torque sensor,drive motor and other models are established,the joint simulation model of unmanned engineering vehicles is established,the steering controller is designed using the PID method,the simulation results show that the control method can meet the construction path demand for automatic steering.The path planning will first formulate the construction area with preset values and realize the steering angle correction during driving by PID algorithm,and never realize the construction-based path planning,and the results show that the method can control the straight path within the error of 10 cm and the curve error within 20 cm.With the collaboration of various modules,the automatic construction simulation results of this robot show that the design path and control method is effective.展开更多
In the development of the robotic arm in recent decades, it has been realized to operate the robotic arm according to the design of the software program to complete the corresponding specific work. It can not only wor...In the development of the robotic arm in recent decades, it has been realized to operate the robotic arm according to the design of the software program to complete the corresponding specific work. It can not only work in an environment where people can't work, but also can maintain long hours of the work, with the low failure rate. With the rapid development of the robotic arm research technology, the robotic arm has been widely used in aerospace, medicine, industrial production, anti-terrorism, and explosion and service industries. Due to the strict quality restriction, the rigidity of the robotic arm is low, and there are geometric errors and flexible deformation errors. In order to improve its performances, it is necessary to reduce the end positioning error of the robotic arm by means of the restructuring technology.展开更多
A complete characterization of the behavior in human-robot interactions(HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In thi...A complete characterization of the behavior in human-robot interactions(HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and motion error. For this, a scheme is presented to identify the impedance based on fictitious social forces, which are described by distance-based potential fields.As part of the validation procedure, we present an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance errors during the validation procedure and least parameter variance during the recursive estimation procedure.Finally, with the best fictitious force and its identified impedance,an impedance control is designed for a mobile robot Pioneer 3AT,which is programmed to follow a human in a structured scenario.According to results, and under the hypothesis that moving like humans will be acceptable by humans, it is believed that the proposed control improves the social acceptance of the robot for this kind of interaction.展开更多
Redundant robotic arm models as a control object discussed.Background of computational intelligence IT on soft computing optimizer of knowledge base in smart robotic manipulators introduced.Soft computing optimizer is...Redundant robotic arm models as a control object discussed.Background of computational intelligence IT on soft computing optimizer of knowledge base in smart robotic manipulators introduced.Soft computing optimizer is the sophisticated computational intelligence toolkit of deep machine learning SW platform with optimal fuzzy neural network structure.The methods for development and design technology of control systems based on soft computing introduced in this Part 1 allow one to implement the principle of design an optimal intelligent control systems with a maximum reliability and controllability level of a complex control object under conditions of uncertainty in the source data,and in the presence of stochastic noises of various physical and statistical characters.The knowledge bases formed with the application of soft computing optimizer produce robust control laws for the schedule of time dependent coefficient gains of conventional PID controllers for a wide range of external perturbations and are maximally insensitive to random variations of the structure of control object.The robustness is achieved by application a vector fitness function for genetic algorithm,whose one component describes the physical principle of minimum production of generalized entropy both in the control object and the control system,and the other components describe conventional control objective functionals such as minimum control error,etc.The application of soft computing technologies(Part I)for the development a robust intelligent control system that solving the problem of precision positioning redundant(3DOF and 7 DOF)manipulators considered.Application of quantum soft computing in robust intelligent control of smart manipulators in Part II described.展开更多
Autonomous aerial robotics has become a hot direction ofresearch inside the community of robotics and control. Theprimary problem addressed by formation control is to steermultiple aerial robots to form desired geomet...Autonomous aerial robotics has become a hot direction ofresearch inside the community of robotics and control. Theprimary problem addressed by formation control is to steermultiple aerial robots to form desired geometric patterns and,at the same time, realize desired collective swarming behaviorsin a decentralized or distributed manner. In contrast toground vehicles, aerial robots have the ability to work inthree-dimensional (3D) airspace. Equipped with electric orhydraulic motors, the vertical take-off and landing (VTOL)capability is a typical performance of aerial robots. Formationcontrol technology for such aerial robots is incessantlyspringing up to satisfy the requirements of highly intelligentautonomous systems, which affects both military and civilareas, including missile defense, battlefield surveillance,satellite network construction, fire suppression, power gridinspection, commercial show, etc. [1–5]. Such a problem ofmultiple aerial robots formation control is exceptionallychallenging to analyze if practical constraints such as complexdynamics, motion constraints, and imperfect measurementsare incorporated.展开更多
How to solve the coupling relations in a 6 - DOF parallel robot quickly and accurately within the limits of realtime control is a critical problem. In traditional analytic method, the complicated mathemtical model mus...How to solve the coupling relations in a 6 - DOF parallel robot quickly and accurately within the limits of realtime control is a critical problem. In traditional analytic method, the complicated mathemtical model must first be constructed and then solved by programming.Obviously, this method is not very practical. This paper,therefore, proposes a new way of approach with a new method using 3- D animation for the solving of coupling relations in the 6 - DOF parallel robot. This method is much simpler and its solving accuracy approaches that of the more complicated analytic method.展开更多
目前主流工业机器人为封闭式控制结构,存在不开源、二次开发难的问题,因此设计一种基于TwinCAT3(the windows control and automation technology)的跨平台、可移植性好的机器人控制系统架构。该架构包含视觉、运动控制和算法集成与仿...目前主流工业机器人为封闭式控制结构,存在不开源、二次开发难的问题,因此设计一种基于TwinCAT3(the windows control and automation technology)的跨平台、可移植性好的机器人控制系统架构。该架构包含视觉、运动控制和算法集成与仿真控制模块,采用倍福自动化设备规范(automation device specification,ADS)通信技术和实时工业以太网总线技术(ethernet for control automation technology,EtherCAT),建立以计算机(personal computer,PC)和倍福控制器为EtherCAT主站,控制多组从站执行器的一主多从工作模式。该模式结合离线与在线控制、集成数字孪生技术,完成虚拟样机与物理样机的联动;采用开源可扩展架构,便于视觉算法、智能算法等算法集成。经实验验证,此架构具有拓展性好、实时性强的特点。展开更多
Purpose-The purpose of this paper is to develop sliding mode control with linear and nonlinear manifolds in discrete-time domain for robot manipulators.Design/methodology/approach–First,a discrete linear sliding mode...Purpose-The purpose of this paper is to develop sliding mode control with linear and nonlinear manifolds in discrete-time domain for robot manipulators.Design/methodology/approach–First,a discrete linear sliding mode controller is designed to an n-link robot based on Gao’s reaching law.In the second step,a discrete terminal sliding mode controller is developed to design a finite time and high precision controller.The stability analysis of both controllers is presented in the presence of model uncertainties and external disturbances.Finally,sampling time effects on the continuous-time system outputs and sliding surfaces are discussed.Findings–Computer simulations on a three-link SCARA robot show that the proposed controllers are robust against model uncertainties and external disturbance.It was also shown that the sampling time has important effects on the closed loop system stability and convergence.Practical implications-The proposed controllers are low cost and easily implemented in practice in comparison with continuous-time ones.Originality/value-The novelty associated with this paper is the development of an approach to finite time and robust control of n-link robot manipulators in discrete-time domain.Also,obtaining an upper bound for the sampling time is another contribution of this work.展开更多
Purpose–Transcranial magnetic stimulation(TMS)is a non-invasive brain stimulation technique.Based on the unique functions of TMS,it has been widely used in clinical,scientific research and other fields.Nowadays,the r...Purpose–Transcranial magnetic stimulation(TMS)is a non-invasive brain stimulation technique.Based on the unique functions of TMS,it has been widely used in clinical,scientific research and other fields.Nowadays,the robot-assisted automatic TMS has become the trend.In order to simplify the operation procedures of robotic TMS and reduce the costs,the purpose of this paper is to apply the marker-based augmented-reality technology to robotic TMS system.Design/methodology/approach–By using the marker of ARToolKitPlus library and monocular camera,the patient’s head is positioned in real time.Furthermore,the force control is applied to keep contact between the coil and subject’s head.Findings–The authors fuse with visual positioning which is based on augmented-reality and force-control technologies to track the movements of the patient’s head,bring the coil closer to the stimulation site and increase treatment effects.Experimental results indicate that the trajectory tracking control of robotic TMS system designed in this paper is practical and flexible.Originality/value–This paper provides a trajectory tracking control method for the robotic TMS.The marker-based augmented-reality technology is implemented which simplifies the operation procedures of robotic TMS as well as reduce the costs.During the treatment process,the patients would wear an AR glasses,which can help patients relax through virtual scenes and reduce the uncomfortableness produce by treatment.展开更多
The underwater environment is complicated and full of hazards,making it tough to complete with just one piece of underwater operation equipment.Building a high-speed,low-latency wireless connection between a remote wi...The underwater environment is complicated and full of hazards,making it tough to complete with just one piece of underwater operation equipment.Building a high-speed,low-latency wireless connection between a remote wireless operation platform on water surface and other operation platforms in order to achieve long-distance transmission of high-definition image data and control commands,as well as collaborative operations among multiple platforms,has become a development trend and focus of exploring complex and dangerous waters.This paper summarizes and elaborates on underwater communication technology,long-distance data transmission technology,multi-submersible robot collaborative operation,and information interaction technology,as well as the development status of key technologies of remote wireless operation platform on water surface.And the research direction and focus of the remote wireless operation platform on water surface are prospected.展开更多
文摘Automatic control technology is the basis of road robot improvement,according to the characteristics of construction equipment and functions,the research will be input type perception from positioning acquisition,real-world monitoring,the process will use RTK-GNSS positional perception technology,by projecting the left side of the earth from Gauss-Krueger projection method,and then carry out the Cartesian conversion based on the characteristics of drawing;steering control system is the core of the electric drive unmanned module,on the basis of the analysis of the composition of the steering system of unmanned engineering vehicles,the steering system key components such as direction,torque sensor,drive motor and other models are established,the joint simulation model of unmanned engineering vehicles is established,the steering controller is designed using the PID method,the simulation results show that the control method can meet the construction path demand for automatic steering.The path planning will first formulate the construction area with preset values and realize the steering angle correction during driving by PID algorithm,and never realize the construction-based path planning,and the results show that the method can control the straight path within the error of 10 cm and the curve error within 20 cm.With the collaboration of various modules,the automatic construction simulation results of this robot show that the design path and control method is effective.
文摘In the development of the robotic arm in recent decades, it has been realized to operate the robotic arm according to the design of the software program to complete the corresponding specific work. It can not only work in an environment where people can't work, but also can maintain long hours of the work, with the low failure rate. With the rapid development of the robotic arm research technology, the robotic arm has been widely used in aerospace, medicine, industrial production, anti-terrorism, and explosion and service industries. Due to the strict quality restriction, the rigidity of the robotic arm is low, and there are geometric errors and flexible deformation errors. In order to improve its performances, it is necessary to reduce the end positioning error of the robotic arm by means of the restructuring technology.
文摘A complete characterization of the behavior in human-robot interactions(HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and motion error. For this, a scheme is presented to identify the impedance based on fictitious social forces, which are described by distance-based potential fields.As part of the validation procedure, we present an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance errors during the validation procedure and least parameter variance during the recursive estimation procedure.Finally, with the best fictitious force and its identified impedance,an impedance control is designed for a mobile robot Pioneer 3AT,which is programmed to follow a human in a structured scenario.According to results, and under the hypothesis that moving like humans will be acceptable by humans, it is believed that the proposed control improves the social acceptance of the robot for this kind of interaction.
文摘Redundant robotic arm models as a control object discussed.Background of computational intelligence IT on soft computing optimizer of knowledge base in smart robotic manipulators introduced.Soft computing optimizer is the sophisticated computational intelligence toolkit of deep machine learning SW platform with optimal fuzzy neural network structure.The methods for development and design technology of control systems based on soft computing introduced in this Part 1 allow one to implement the principle of design an optimal intelligent control systems with a maximum reliability and controllability level of a complex control object under conditions of uncertainty in the source data,and in the presence of stochastic noises of various physical and statistical characters.The knowledge bases formed with the application of soft computing optimizer produce robust control laws for the schedule of time dependent coefficient gains of conventional PID controllers for a wide range of external perturbations and are maximally insensitive to random variations of the structure of control object.The robustness is achieved by application a vector fitness function for genetic algorithm,whose one component describes the physical principle of minimum production of generalized entropy both in the control object and the control system,and the other components describe conventional control objective functionals such as minimum control error,etc.The application of soft computing technologies(Part I)for the development a robust intelligent control system that solving the problem of precision positioning redundant(3DOF and 7 DOF)manipulators considered.Application of quantum soft computing in robust intelligent control of smart manipulators in Part II described.
基金supported by the National Natural Science Foundation of China(Grant Nos.61673327,51606161,11602209,91441128)the Natural Science Foundation of Fujian Province,China(Grant No.2016J06011)
文摘Autonomous aerial robotics has become a hot direction ofresearch inside the community of robotics and control. Theprimary problem addressed by formation control is to steermultiple aerial robots to form desired geometric patterns and,at the same time, realize desired collective swarming behaviorsin a decentralized or distributed manner. In contrast toground vehicles, aerial robots have the ability to work inthree-dimensional (3D) airspace. Equipped with electric orhydraulic motors, the vertical take-off and landing (VTOL)capability is a typical performance of aerial robots. Formationcontrol technology for such aerial robots is incessantlyspringing up to satisfy the requirements of highly intelligentautonomous systems, which affects both military and civilareas, including missile defense, battlefield surveillance,satellite network construction, fire suppression, power gridinspection, commercial show, etc. [1–5]. Such a problem ofmultiple aerial robots formation control is exceptionallychallenging to analyze if practical constraints such as complexdynamics, motion constraints, and imperfect measurementsare incorporated.
文摘How to solve the coupling relations in a 6 - DOF parallel robot quickly and accurately within the limits of realtime control is a critical problem. In traditional analytic method, the complicated mathemtical model must first be constructed and then solved by programming.Obviously, this method is not very practical. This paper,therefore, proposes a new way of approach with a new method using 3- D animation for the solving of coupling relations in the 6 - DOF parallel robot. This method is much simpler and its solving accuracy approaches that of the more complicated analytic method.
文摘目前主流工业机器人为封闭式控制结构,存在不开源、二次开发难的问题,因此设计一种基于TwinCAT3(the windows control and automation technology)的跨平台、可移植性好的机器人控制系统架构。该架构包含视觉、运动控制和算法集成与仿真控制模块,采用倍福自动化设备规范(automation device specification,ADS)通信技术和实时工业以太网总线技术(ethernet for control automation technology,EtherCAT),建立以计算机(personal computer,PC)和倍福控制器为EtherCAT主站,控制多组从站执行器的一主多从工作模式。该模式结合离线与在线控制、集成数字孪生技术,完成虚拟样机与物理样机的联动;采用开源可扩展架构,便于视觉算法、智能算法等算法集成。经实验验证,此架构具有拓展性好、实时性强的特点。
文摘Purpose-The purpose of this paper is to develop sliding mode control with linear and nonlinear manifolds in discrete-time domain for robot manipulators.Design/methodology/approach–First,a discrete linear sliding mode controller is designed to an n-link robot based on Gao’s reaching law.In the second step,a discrete terminal sliding mode controller is developed to design a finite time and high precision controller.The stability analysis of both controllers is presented in the presence of model uncertainties and external disturbances.Finally,sampling time effects on the continuous-time system outputs and sliding surfaces are discussed.Findings–Computer simulations on a three-link SCARA robot show that the proposed controllers are robust against model uncertainties and external disturbance.It was also shown that the sampling time has important effects on the closed loop system stability and convergence.Practical implications-The proposed controllers are low cost and easily implemented in practice in comparison with continuous-time ones.Originality/value-The novelty associated with this paper is the development of an approach to finite time and robust control of n-link robot manipulators in discrete-time domain.Also,obtaining an upper bound for the sampling time is another contribution of this work.
文摘Purpose–Transcranial magnetic stimulation(TMS)is a non-invasive brain stimulation technique.Based on the unique functions of TMS,it has been widely used in clinical,scientific research and other fields.Nowadays,the robot-assisted automatic TMS has become the trend.In order to simplify the operation procedures of robotic TMS and reduce the costs,the purpose of this paper is to apply the marker-based augmented-reality technology to robotic TMS system.Design/methodology/approach–By using the marker of ARToolKitPlus library and monocular camera,the patient’s head is positioned in real time.Furthermore,the force control is applied to keep contact between the coil and subject’s head.Findings–The authors fuse with visual positioning which is based on augmented-reality and force-control technologies to track the movements of the patient’s head,bring the coil closer to the stimulation site and increase treatment effects.Experimental results indicate that the trajectory tracking control of robotic TMS system designed in this paper is practical and flexible.Originality/value–This paper provides a trajectory tracking control method for the robotic TMS.The marker-based augmented-reality technology is implemented which simplifies the operation procedures of robotic TMS as well as reduce the costs.During the treatment process,the patients would wear an AR glasses,which can help patients relax through virtual scenes and reduce the uncomfortableness produce by treatment.
基金supported by National Natural Science Foundation of China(Grant No.51505258 and 61601265)Natural Science Foundation of Shandong Province,China(Grant No.ZR2015EL019,ZR2020ME126 and ZR2021MF131)+2 种基金The Youth Science and Technology Plan Project of Colleges and Universities in Shandong Province(Grant No.2019KJB019)Open project of State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures,China(Grant No.1903)Open project of Hebei Traffic Safety and Control Key Laboratory,China(Grant No.JTKY2019002).
文摘The underwater environment is complicated and full of hazards,making it tough to complete with just one piece of underwater operation equipment.Building a high-speed,low-latency wireless connection between a remote wireless operation platform on water surface and other operation platforms in order to achieve long-distance transmission of high-definition image data and control commands,as well as collaborative operations among multiple platforms,has become a development trend and focus of exploring complex and dangerous waters.This paper summarizes and elaborates on underwater communication technology,long-distance data transmission technology,multi-submersible robot collaborative operation,and information interaction technology,as well as the development status of key technologies of remote wireless operation platform on water surface.And the research direction and focus of the remote wireless operation platform on water surface are prospected.