A Novel Disturbance Observer Based Fixed-Time Sliding Mode Control for Robotic Manipulators With Global Fast Convergence

This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems.Then an adaptive scheme is used and the adaptive FTDO(AFTDO) is developed,so that the priori knowledge of the lumped disturbance is not required.Further,a new non-singular fast terminal sliding mode(NFTSM) surface is designed by using an arctan function,which helps to overcome the singularity problem and enhance the robustness of the system.Based on the estimation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed time.The settling time is independent of the initial state of the system.In addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method.Finally,the fixed-time NFESM(FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers(SMCs) are performed.The comparative results confirm that the FTNFTSMC has superior control performance.

Systematic Elastostatic Stiffness Model of Over-Constrained Parallel Manipulators Without Additional Constraint Equations

The establishment of an elastostatic stiffness model for over constrained parallel manipulators(PMs),particularly those with over constrained subclosed loops,poses a challenge while ensuring numerical stability.This study addresses this issue by proposing a systematic elastostatic stiffness model based on matrix structural analysis(MSA)and independent displacement coordinates(IDCs)extraction techniques.To begin,the closed-loop PM is transformed into an open-loop PM by eliminating constraints.A subassembly element is then introduced,which considers the flexibility of both rods and joints.This approach helps circumvent the numerical instability typically encountered with traditional constraint equations.The IDCs and analytical constraint equations of nodes constrained by various joints are summarized in the appendix,utilizing multipoint constraint theory and singularity analysis,all unified within a single coordinate frame.Subsequently,the open-loop mechanism is efficiently closed by referencing the constraint equations presented in the appendix,alongside its elastostatic model.The proposed method proves to be both modeling and computationally efficient due to the comprehensive summary of the constraint equations in the Appendix,eliminating the need for additional equations.An example utilizing an over constrained subclosed loops demonstrate the application of the proposed method.In conclusion,the model proposed in this study enriches the theory of elastostatic stiffness modeling of PMs and provides an effective solution for stiffness modeling challenges they present.

Manipulator tracking technology based on FSRUKF

Aiming at the shortcoming that the traditional industrial manipulator using off-line programming cannot change along with the change of external environment,the key technologies such as machine vision and manipulator control are studied,and a complete manipulator vision tracking system is designed.Firstly,Denavit-Hartenberg(D-H)parameters method is used to construct the model of the manipulator and analyze the forward and inverse kinematics equations of the manipulator.At the same time,a binocular camera is used to obtain the threedimensional position of the target.Secondly,in order to make the manipulator track the target more accurately,the fuzzy adaptive square root unscented Kalman filter(FSRUKF)is proposed to estimate the target state.Finally,the manipulator tracking system is built by using the position-based visual servo.The simulation experiments show that FSRUKF converges faster and with less error than the square root unscented Kalman filter(SRUKF),which meets the application requirements of the manipulator tracking system,and basically meets the application requirements of the manipulator tracking system in the practical experiments.

Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

油茶花苞采集机械手的设计与试验

丘陵地区油茶林地众多,油茶花苞采集暂无机械化设备,故设计了一款六自由度的油茶花苞采集机械手。通过油茶花苞生物学特性分析,使用旋扭式末端执行器可以实现油茶花苞的高效采集,采净率为90%。通过机械手工作空间分析,确定了机械手的尺寸,并将末端执行器搭载到机械手上进行了油茶林田间试验。试验结果表明:搭载了旋扭式末端执行器六自由度机械手,可以到达采摘区间的边界位置,末端在x、y、z方向的最大偏差分别为3.4、3.3、3.4 cm,为油茶花苞智能化采集提供了依据。

Vibration Reduction of Open-chain Flexible Manipulators by Optimizing Independent Motions of Branch Links

In order to suppress vibration in flexible manipulators, a new type of manipulator mechanism with controllable local degrees of freedom is proposed. This mechanism consists of a main chain and some branch links. The main chain is of a flexible open-chain configuration with an end-effector installed at its tip, and the rigid branch links are able to perform active movements. It is proved by kinematics and dynamic analysis that, the branch links bear no direct kinematic relation to the main chain, but their independent motions can strongly affect the dynamic behavior and performance of the flexible manipulator. Then comes a new idea of suppressing vibration, in which independent motions of the branch links are used to suppress the undesired vibration of the flexible main chain through dynamic coupling. On this basis, an optimal method for reducing vibration of flexible manipulators is proposed. Finally, the effectiveness of this method is verified by numerical simulations.

理筋手法调控兔骨骼肌损伤修复中瘢痕形成的作用机制

背景:理筋手法能够促进骨骼肌修复,治疗骨骼肌损伤。但骨骼肌损伤在修复过程中的纤维化形成、瘢痕组织增生等与损伤修复质量密切相关。开展理筋手法对纤维化形成、瘢痕组织增生的调控作用研究,有利于阐述理筋手法提高骨骼肌损伤修复质量的相关机制。目的:探索理筋手法提高兔骨骼肌损伤后修复质量的作用机制,为临床治疗提供科学依据。方法:45只健康成年日本大耳白兔随机分为空白组、模型组、理筋组,每组15只。其中模型组和理筋组均进行腓肠肌打击造模;造模后理筋组于第3天开始进行理筋手法干预,1次/d,15 min/次。各组在造模后的第7,14,21天分别处死5只兔进行观察。苏木精-伊红染色法观察腓肠肌形态及炎性细胞量,Masson染色法观察腓肠肌胶原纤维量,ELISA法检测腓肠肌白细胞介素6和白细胞介素10的表达量,Western blot和RT-PCR检测配对盒基因7、成肌分化因子、肌细胞生成素、肌动蛋白α、转化生长因子β1、Ⅰ型胶原蛋白的蛋白及mRNA表达,免疫组织化学法检测Ⅰ型胶原蛋白的表达。结果与结论:①苏木精-伊红染色及Masson染色结果显示,与模型组比较,理筋组各观察点炎性细胞浸润减少,胶原纤维量减少(P<0.01),肌纤维逐渐愈合;②ELISA结果显示,与模型组比较,理筋组白细胞介素6表达持续降低(P<0.05),而白细胞介素10在造模后第7天时升高(P<0.05),随后呈下降趋势(P<0.05);③Western blot和RT-PCR结果显示,与模型组比较,理筋组造模后第14天配对盒基因7、成肌分化因子、肌细胞生成素的蛋白及mRNA表达量均显著升高(P<0.05),而第21天时却较之前下降(P<0.05);理筋组各观察点肌动蛋白α、转化生长因子β1、Ⅰ型胶原蛋白的蛋白及mRNA表达量相较于模型组均显著降低(P<0.05);④免疫组化结果显示,理筋组各观察点Ⅰ型胶原蛋白的表达量相较于模型组均显著降低(P<0.05);⑤结果表明,理筋手法能够通过抑制炎症、促进肌卫星细胞的增殖分化、减少纤维化的生成,从而提高兔骨骼肌损伤的修复质量。

FUZZY ADAPTIVE CONTROL OF FLEXIBLE-LINK ROBOT MANIPULATOR

A fuzzy adaptive control method is proposed for a flexible robot manipulator. Due to the structure characteristics of the flexible manipulator, the vibration modes must be controlled to realize the high-precision tip position. The Lagrangian principle is utilized to model the dynamic function of the single-degree flexible manipulator incorporating the assumed modes method. Simulation results of the fuzzy adaptive control method in the location control and the trajectory tracking with different tip disturbances are presented and compared with the results of the classic PD control. It shows that the controller can obtain the stable and robust performance.

颈椎定点旋转手法在体生物力学量化及影响因素分析

背景:颈椎定点旋转手法属于技术要求较高的力学操作,但目前其生物力学还缺少相关量化数据;且颈椎定点旋转手法的影响因素研究包括了众多参数并且存在差异性,需要进一步对其影响因素进行分析,以完善其相关数据。目的:量化颈椎定点旋转手法在体生物力学参数,探讨各生物力学参数之间的相关性,及研究对象个体特征差异对手法力学参数的影响。方法:选取35例颈椎病患者为测试对象,均为广西中医药大学第一附属医院仁爱分院骨伤科门诊就诊者。术者佩戴穿戴式力学测量手套采集手法力学参数,包括拇指预加载力、拇指最大推力、掌心预加载力、掌心旋扳力和掌心旋扳最大作用力。并采集患者个人特征参数,包括年龄、身高、体质量和颈围。对手法操作过程中的关键力学参数进行特征分析及不同个体特征进行量化,对力学指标参数进行Spearman相关性分析;分析不同个体特征参数对生物力学可能存在的影响。结果与结论:(1)双侧力学参数相比,左侧操作与右侧操作无显著差异性(P>0.05)。(2)拇指预加载力均值为(7.21±1.19)N、拇指最大推力均值为(28.40±4.48)N、掌心预加载力均值为(5.67±2.49)N、掌心旋扳力均值为(10.90±5.11)N、掌心旋扳最大作用力均值为(16.00±7.27)N。(3)掌心预加载力和掌心旋扳力存在显著正相关(Rs=0.812,P<0.01);掌心预加载力和掌心旋扳最大作用力存在显著正相关(Rs=0.773,P<0.01);掌心旋扳力和掌心旋扳最大作用力存在显著正相关(Rs=0.939,P<0.01)。(4)患者体质量与拇指预加载力、掌心预加载力、掌心旋扳力及掌心旋扳最大作用力之间存在显著正相关(P<0.05)。(5)结果证实,颈椎定点旋转手法治疗颈椎病操作中生物力学有一定的标准量值。该手法左右侧操作无显著差异性,具有较好的一致性和可重复性。掌心预加载力、掌心旋扳力及掌心旋扳最大作用力3种力之间存在一致性和协调性,对于治疗效果的贡献是相近的。患者的体质量是影响颈椎定点旋转手法重要的因素。

三维侧凸角定量评估手法治疗腰椎间盘突出症的近期效果

背景:腰椎间盘突出症患者因髓核压迫、力学失衡而出现不同的身体畸形,冯天有教授在此基础上提出“四步腰型”,冯伟教授提出三维侧凸角客观量化“四步腰型”。目的:探讨三维侧凸角在评估新医正骨疗法治疗腰椎间盘突出症患者疗效中的应用价值。方法:纳入149例腰椎间盘突出症患者,其中四步腰型Ⅰ/Ⅱ型96例,Ⅲ/Ⅳ型55例,均进行2周的手法治疗;另纳入10名健康志愿者作为健康对照。利用表面形貌技术测量三维侧凸角,比较四步腰型Ⅰ/Ⅱ型及Ⅲ/Ⅳ型患者三维侧凸角治疗前后的差异,比较患者治疗后与健康受试者的差异,比较Ⅰ/Ⅱ型和Ⅲ/Ⅳ型三维侧凸角治疗变化量的差异,探索三维侧凸角各投影面内在相关性及与常用临床疗效评分的相关性。结果与结论:(1)四步腰型Ⅰ/Ⅱ型与Ⅲ/Ⅳ型患者治疗前后的三维侧凸角差异有显著性意义(P <0.05);(2)Ⅰ/Ⅱ型、Ⅲ/Ⅳ型患者治疗后与健康受试者冠侧凸和横截凸差异有显著性意义(P <0.05),矢侧凸无统计学差异(P> 0.05);(3)三维侧凸角在各个投影面之间两两呈现相关性,与主观量表之间存在相关性;(4)提示三维侧凸角在手法治疗前后脊柱畸形程度定量评估中具有很好的作用,通过定量化的指标能够揭示患者治疗前后病情变化规律;三维侧凸角能反映影响患者生活状态的严重程度,但单一平面参数评估脊柱侧弯有一定局限性。

Many faces of neuronal activity manipulation in Drosophila

Animals exhibit complex responses to external and internal stimuli.The information is computed by interconnected neurons that express numerous ion channels,which modulate the neuronal membrane potential.How can neuronal activity orchestrate complex motor patterns or allow learning from previous experience?To answer such questions,we need the ability not only to record,but also to modulate neuronal activity in both space(e.g.,neuronal subsets)and time.

FUZZY COORDINATION AND FORCE/POSITION CONTROL OF ROBOTIC MANIPULATOR

It is crucial for implementing force/position control of robotic manipulator under the constraint of unknown environment to determine the force control and the position control directions. This paper presents an on line algorithm to real timely estimate the tangent and the normal vectors of the constraint surface based on the measured contact force under the consideration of frictional force. A fuzzy synthesis policy is proposed to coordinate the conflict between the compliant force control and the stiff position control. An experimental study on an AdeptThree, a SCARA type robotic manipulator, is conducted. The experimental results show that the policy presented in the paper is effective.

多传感欠驱动水果采摘机械手的设计

机械手是水果采摘机器人与水果直接接触部分,在采摘过程中具有至关重要的作用,其设计是采摘机器人研发的重要环节。针对大部分水果生长环境复杂、形状不规则,且表皮易受损的现状,设计了一种多传感欠驱动采摘机械手,并采用腱绳传动的欠驱动系统,内嵌微型彩色相机、激光测距传感器和压力薄膜传感器等模块。首先,对压力薄膜传感器采集的数据进行滤波和标定处理,实现在复杂环境中对水果恒定力采摘,防止水果受损;最后,进行了样机制作,并在实验室搭建采摘平台,验证了采摘机械手设计的可靠性和稳定性。

A Decentralized Autonomous Control on Highly Redundant Robot Manipulators

The control method of highly redundant robot manipulators is introduced. A decentralized autonomous control scheme is used to guide the movement of robot manipulators so that the work done by manipulators is minimized. The method of computing pseudoinverse which needs too many complicated calculation can be avoided. Then the calculation and control of robots are simplified. At the same time system robustness/fault tolerance is achieved.

ON HYBRID POSITION/FORCE COORDINATED LEARNING CONTROL OF MULTIPLE MANIPULATORS

In this paper, coordinated control of multiple robot manipulators holding a rigid object is discussed. In consideration of inaccuracy of the dynamic model of a multiple manipulator system, the error equations on object position and internal force are derived. Then a hybrid position/force coordinated learning control scheme is presented and its convergence is proved. The scheme can improve the system performance by modifying the control input of the system after each iterative learning. Simulation results of two planar robot manipulators holding an object show the effectiveness of this control scheme.

Impedance force control for position controlled robotic manipulators under the constraint of unknown environments

A force control strategy for position controlled robotic manipulators is presented. On line force feedback data are employed to estimate the local shape of the unknown constraint. The estimated vectors are used to generate the virtual reference trajectory for the target impedance model that is driven by the force error to produce command position. By following the command position trajectory the robotic manipulator can follow the unknown constraint surface while keeping an acceptable force error in a manner depicted by the target impedance model. Computer simulation on a 3 linked planar manipulator and experimental studies on an Adept 3, an SCARA type robotic manipulator, are conducted to verify the force tracking capability of the proposed control strategy.

旋提手法治疗神经根型颈椎病的应力及椎间孔形态学特征:三维有限元分析

背景:颈椎旋提手法治疗神经根型颈椎病的临床疗效确切,安全性较好,已广泛应用于临床中,但其对各节段颈椎椎体、椎间盘的生物力学及椎间孔面积的影响尚未系统阐明。目的:基于三维有限元分析技术开展相关研究,为旋提手法治疗神经根型颈椎病的效应机制提供数字化证据。方法:选择1例颈背部无异常疾患的志愿者,将其颈椎旋转至生理极限体位状态下的CT影像资料作为有限元模型材料。分别通过Mimics19.0、Geomagic Studio 2013、Hypermash 14.0及ANSYS Workbench 2020 R2软件完成对有限元模型的初步构建,基于文献完成颈椎各组织结构的弹性模量、弹性系数赋值,基于团队前期工作基础在模型上加载旋提手法的力学工况,分析颈椎旋提手法对C3-T1节段各椎体、椎间盘的力学参数及其对颈椎旋颈对侧椎间孔面积的影响。结果与结论:(1)旋提手法实施时,骨性结构的应力明显高于椎间盘等软组织;(2)手法操作时各颈椎椎体顶部椎板处应力高,底部椎板处应力低,关节突关节处及横突处应力较低;而各椎间盘顶部髓核处应力较低,底部与椎板连接处应力较高,但椎间盘应力最高点在顶部外侧纤维环处;(3)另外,加载提扳力后较之加载前,C6/C7节段椎间孔投影面积明显增大;(4)提示旋提手法操作具有改变颈椎本身应力结构的力学特征,并能扩大患者旋颈对侧的C6/7椎间孔面积,实现治疗神经根型颈椎病的目的。

理筋手法减轻兔损伤骨骼肌纤维化的作用机制

背景:理筋手法能够减少纤维化瘢痕增生,促进骨骼肌修复。但不恰当的激活Wnt/β-catenin信号通路,能加剧损伤骨骼肌纤维化,对骨骼肌修复过程产生不利影响。开展理筋手法对Wnt/β-catenin信号通路的调控作用研究,有利于阐述理筋手法减少纤维化瘢痕增生、促进骨骼肌损伤修复的相关机制。目的:探讨理筋手法促进兔骨骼肌损伤修复的作用机制。方法:45只普通级健康成年日本大耳兔随机分为空白组、模型组和理筋组,每组15只。模型组和理筋组均进行腓肠肌打击造模,理筋组于造模后第3天开始进行理筋手法治疗,1次/d,15 min/次。各组在造模后第7,14,21天分别取5只进行取材。苏木精-伊红染色观察腓肠肌一般形态结构,Masson染色观察腓肠肌胶原纤维含量,Western blot检测腓肠肌Wnt3a、β-catenin、GSK3β、p-GSK3β、TCF、Ⅰ型胶原蛋白、Ⅲ型胶原蛋白表达,RT-PCR检测腓肠肌Wnt3a、β-catenin、TCF mRNA表达,免疫荧光法检测腓肠肌β-catenin的表达,免疫组化法检测腓肠肌Ⅰ型胶原蛋白、Ⅲ型胶原蛋白的表达。结果与结论:①苏木精-伊红染色及Masson染色结果显示:与模型组比较,理筋组各观察点炎性细胞浸润减少,胶原纤维量减少(P<0.001),肌纤维逐渐愈合;②Western blot结果显示:与模型组比较,理筋组各观察点Wnt3a、β-catenin、TCF、Ⅰ型胶原蛋白、Ⅲ型胶原蛋白的蛋白表达量均显著降低(P<0.05),而p-GSK3β/GSK3β比值较模型组则明显升高(P<0.05);③RT-PCR结果显示:与模型组比较,理筋组各观察点Wnt3a、β-catenin、TCF的mRNA表达量均显著降低(P<0.001);④免疫荧光结果显示:与模型组比较,理筋组各观察点β-catenin核表达荧光强度明显降低,且逐渐与空白组相近(P<0.001);⑤免疫组化结果显示:理筋组各观察点Ⅰ型胶原蛋白、Ⅲ型胶原蛋白的表达量相较于模型组均显著降低(P<0.01)。结果表明:理筋手法能够抑制Wnt/β-catenin信号通路的异常激活,减少纤维化瘢痕增生,从而达到促进损伤骨骼肌修复的目的。

Kinematics and Dynamics Hessian Matrices of Manipulators Based on Screw Theory

The complexity of the kinematics and dynamics of a manipulator makes it necessary to simplify the modeling process.However,the traditional representations cannot achieve this because of the absence of coordinate invariance.Therefore,the coordinate invariant method is an important research issue.First,the rigid-body acceleration,the time derivative of the twist,is proved to be a screw,and its physical meaning is explained.Based on the twist and the rigid-body acceleration,the acceleration of the end-effector is expressed as a linear-bilinear form,and the kinematics Hessian matrix of the manipulator（represented by Lie bracket）is deduced.Further,Newton-Euler＇s equation is rewritten as a linear-bilinear form,from which the dynamics Hessian matrix of a rigid body is obtained.The formulae and the dynamics Hessian matrix are proved to be coordinate invariant.Referring to the principle of virtual work,the dynamics Hessian matrix of the parallel manipulator is gotten and the detailed dynamic model is derived.An index of dynamical coupling based on dynamics Hessian matrix is presented.In the end,a foldable parallel manipulator is taken as an example to validate the deduced kinematics and dynamics formulae.The screw theory based method can simplify the kinematics and dynamics of a manipulator,also the corresponding dynamics Hessian matrix can be used to evaluate the dynamical coupling of a manipulator.

Geometric Approach for Kinematic Analysis of a Class of 2-DOF Rotational Parallel Manipulators

Euler angles are commonly used as the orientation representation of most two degrees of freedom（2-DOF） rotational parallel mechanisms（RPMs）,as a result,the coupling of two angle parameters leads to complexity of kinematic model of this family of mechanisms.While a simple analytical kinematic model with respect to those parameters representing the geometrical characteristics of the mechanism,is very helpful to improve the performance of RPMs.In this paper,a new geometric kinematic modeling approach based on the concept of instantaneous single-rotation-angle is proposed and used for the 2-DOF RPMs with symmetry in a homo-kinetic plane.To authors＇ knowledge,this is a new contribution to parallel mechanisms.By means of this method,the forwards kinematics of 2-DOF RPMs is derived in a simple way,and three cases i.e.4-4R mechanism（Omni-wrist III）,spherical five-bar one,and 3-RSR1-SS one demonstrate the validity of the proposed geometric method.In addition,a novel 2-DOF RPM architecture with virtual center-of-motion is presented by aid of the same method.The result provides a useful tool for simplifying the model and extending the application of the RPMs.