A novel wheel-track hybrid mobile robot with many movement patterns is designed.According to different environments,it can switch between the pure wheel pattern and the pure track one.According to a homogeneous coordi...A novel wheel-track hybrid mobile robot with many movement patterns is designed.According to different environments,it can switch between the pure wheel pattern and the pure track one.According to a homogeneous coordinate transformation matrix,gravity stability and its obstacle performance are analyzed.Its gravity equation and climbing obstacle conditions are established.Experimental results show that this hybrid mobile robot could fully possess the advantages of both the wheel and the track mechanisms and achieve a good obstacle climbing capability.展开更多
A homogeneous and lattice self-reconfigurable robot module is designed, and each module is composed of a center body and six connection planes which can independently rotate. A module can independently connect or disc...A homogeneous and lattice self-reconfigurable robot module is designed, and each module is composed of a center body and six connection planes which can independently rotate. A module can independently connect or disconnect with other modules, and then change its connection by collaborating with other modules. We discuss how to describe and discover configuration of robot. Furthermore, we describe its motion planning based on the appraisal function and the adjacency matrix which is effective to solve the computationally difficult problem and optimize the system motion path during the self-reconfiguration process. Finally, a simulation experiment is demonstrated, which verifies the correctness of locomotion method.展开更多
The bonding process of space solar cells is a very complicated task undertaken by manual labor before.An automatic approach based on robot technology is presented to deal with the difficult problem.The architecture of...The bonding process of space solar cells is a very complicated task undertaken by manual labor before.An automatic approach based on robot technology is presented to deal with the difficult problem.The architecture of the bonding robot for space solar cells is described.The two processes carried out by the robot,adhesive dispensing and cover-glass bonding,are studied.Based on the mechanical model,the flow velocity field of the adhesive in needles is obtained and the cover-glass bonding theory is interpreted.According to the studies,the thickness of the adhesive can be controlled accurately by robot and bubbles can be avoided coming about inside the adhesive.展开更多
Assembly errors have great influence on assembly quality in robotic assembly systems. Error analysis is directed to the propagations and accumula-tions of various errors and their effect on assembly success.Using the ...Assembly errors have great influence on assembly quality in robotic assembly systems. Error analysis is directed to the propagations and accumula-tions of various errors and their effect on assembly success.Using the screw coordinates, assembly errors are represented as 'error twist', the extremely compact expression. According to the law of screw composition, relative position and orientation errors of mating parts are computed and the necessary condition of assembly success is concluded. A new simple method for measuring assembly errors is also proposed based on the transformation law of a screw.Because of the compact representation of error, the model presented for error analysis can be applied to various part- mating types and especially useful for error analysis of complexity assembly.展开更多
This paper introduces the architecture and implementation of an industrial robot control system based on Windows NT. This robot control system, which is based on a single-processor structure, can run on general indust...This paper introduces the architecture and implementation of an industrial robot control system based on Windows NT. This robot control system, which is based on a single-processor structure, can run on general industrial computers. Owing to using Windows NT's real-time extension RTX, the control system can achieve good realtime performance and friendly user interface in one general-purpose operating system. A three layer hierarchical architecture of control software is proposed to make the system more scalable and flexible. Furthermore a communication and configuration system is implemented to enable modules to communicate with each other, which make the control system scalable and flexible.展开更多
High-Voltage Live Cleaning Robot works in a hot-line environment (220 kV/330 kV), and so the safety of its application and equipment is most important. In terms of safety, the designs of robot mechanism and control sy...High-Voltage Live Cleaning Robot works in a hot-line environment (220 kV/330 kV), and so the safety of its application and equipment is most important. In terms of safety, the designs of robot mechanism and control system have been discussed, and the test data are given regarding the control system of a model machine. The model machine of a high-voltage live cleaning robot can satisfy the needs of basic cleaning in common conditions. From manual operation to automation, the cleaning efficiency is improved. The robot can decrease the amount of work, and guarantee security. Among high-voltage live cleaning equipment in China, the cleaning robot is advanced in automation and intelligence.展开更多
To acquire human operation skill based on force sense, element contact form (ECF) is proposed to describe contact condition firstly. The skill is modeled as a sequence of discrete ECFs. Since different ECF has differe...To acquire human operation skill based on force sense, element contact form (ECF) is proposed to describe contact condition firstly. The skill is modeled as a sequence of discrete ECFs. Since different ECF has different force distribution, a support vector machine classifier is built to identify the contact conditions according to the force signal. Finally, the robot can obtain the skill from the human demonstration.展开更多
The 3D object visual tracking problem is studied for the robot vision system of the 220kV/330kV high-voltage live-line insulator cleaning robot. The SUSAN Edge based Scale Invariant Feature (SESIF) algorithm based 3D ...The 3D object visual tracking problem is studied for the robot vision system of the 220kV/330kV high-voltage live-line insulator cleaning robot. The SUSAN Edge based Scale Invariant Feature (SESIF) algorithm based 3D objects visual tracking is achieved in three stages: the first frame stage,tracking stage,and recovering stage. An SESIF based objects recognition algorithm is proposed to find initial location at both the first frame stage and recovering stage. An SESIF and Lie group based visual tracking algorithm is used to track 3D object. Experiments verify the algorithm's robustness. This algorithm will be used in the second generation of the 220kV/330kV high-voltage live-line insulator cleaning robot.展开更多
We investigated the vibration of a cleaning robot for hotline insulators, providing a flexible elevating link with a rigid moving link at the end. A Lagrange dynamic model is established based on the assumed mode meth...We investigated the vibration of a cleaning robot for hotline insulators, providing a flexible elevating link with a rigid moving link at the end. A Lagrange dynamic model is established based on the assumed mode method. An approach is proposed to reduce residual vibration of the flexible elevating link by optimizing acceleration of rigid link using the Pontryagin maximum principle (PMP). A numerical solution to the proposed optimization problem including a two-point boundary-value problem (2PBVP) is developed. Residual vibration of the flexible elevating link of the optimal acceleration profile is compared with that of the optimal trapezoid velocity profile. The result shows that the proposed trajectory optimization method can reduce the residual vibration more effectively.展开更多
In this paper,three dimensions kinematics and kinetics simulation are discussed for hardware realization of a physical biped walking-chair robot.The direct and inverse close-form kinematics solution of the biped walki...In this paper,three dimensions kinematics and kinetics simulation are discussed for hardware realization of a physical biped walking-chair robot.The direct and inverse close-form kinematics solution of the biped walking-chair robot is deduced.Several gaits are realized with the kinematics solution,including walking straight on level floor,going up stair,squatting down and standing up.Zero Moment Point(ZMP)equation is analyzed considering the movement of the crew.The simulated biped walking-chair robot is used for mechanical design,gaits development and validation before they are tested on real robot.展开更多
In order to alleviate the steady-state position error and the destabilizing effect of the nonlinear friction, a novel compensation method is presented, which modified the traditional Southward's compensation metho...In order to alleviate the steady-state position error and the destabilizing effect of the nonlinear friction, a novel compensation method is presented, which modified the traditional Southward's compensation method. Estimated the nonlinear friction model using an identification method, the effect caused by its nonlinear component can be compensated, and an enhanced tracking performance is verified on a selectively compliant articulated robot arm(SCARA) robot.展开更多
A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brushless DC m...A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brushless DC motor is founded. Disturbance factors and the compensated effect of the torque's closed loop based on current measurement are analyzed. Related simulations and experiments show that the system has good current tracking and anti-disturbances performance, which improve the force control performance of the robot in assembly.展开更多
To make the detecting robot move on the surface of the finned tubes, a novel combined moving mechanism is developed. The combined moving mechanism is composed of sprocket wheel and drum-like small wheel installed on t...To make the detecting robot move on the surface of the finned tubes, a novel combined moving mechanism is developed. The combined moving mechanism is composed of sprocket wheel and drum-like small wheel installed on the chain. It can make the robot move independently in the direction parallel to the tubes and in the direction perpendicular to the tubes. This paper made a detailed discussion on the composition of the combined moving mechanism, the design method of the conjugate outline curve and the circular-arc outline curve of the drum-like small wheel that meshes with the tubes. The error of the circular-arc outline curve is also analyzed.展开更多
基金Supported by the National Natural Science Foundation of China(No.61175069,51075272,51475300)
文摘A novel wheel-track hybrid mobile robot with many movement patterns is designed.According to different environments,it can switch between the pure wheel pattern and the pure track one.According to a homogeneous coordinate transformation matrix,gravity stability and its obstacle performance are analyzed.Its gravity equation and climbing obstacle conditions are established.Experimental results show that this hybrid mobile robot could fully possess the advantages of both the wheel and the track mechanisms and achieve a good obstacle climbing capability.
文摘A homogeneous and lattice self-reconfigurable robot module is designed, and each module is composed of a center body and six connection planes which can independently rotate. A module can independently connect or disconnect with other modules, and then change its connection by collaborating with other modules. We discuss how to describe and discover configuration of robot. Furthermore, we describe its motion planning based on the appraisal function and the adjacency matrix which is effective to solve the computationally difficult problem and optimize the system motion path during the self-reconfiguration process. Finally, a simulation experiment is demonstrated, which verifies the correctness of locomotion method.
文摘The bonding process of space solar cells is a very complicated task undertaken by manual labor before.An automatic approach based on robot technology is presented to deal with the difficult problem.The architecture of the bonding robot for space solar cells is described.The two processes carried out by the robot,adhesive dispensing and cover-glass bonding,are studied.Based on the mechanical model,the flow velocity field of the adhesive in needles is obtained and the cover-glass bonding theory is interpreted.According to the studies,the thickness of the adhesive can be controlled accurately by robot and bubbles can be avoided coming about inside the adhesive.
基金This work is Supported by the National Science Foundation under Grant 863 -512 -9820-04.
文摘Assembly errors have great influence on assembly quality in robotic assembly systems. Error analysis is directed to the propagations and accumula-tions of various errors and their effect on assembly success.Using the screw coordinates, assembly errors are represented as 'error twist', the extremely compact expression. According to the law of screw composition, relative position and orientation errors of mating parts are computed and the necessary condition of assembly success is concluded. A new simple method for measuring assembly errors is also proposed based on the transformation law of a screw.Because of the compact representation of error, the model presented for error analysis can be applied to various part- mating types and especially useful for error analysis of complexity assembly.
基金Supported by National Natural Science foundation of China (No. 69975014)
文摘This paper introduces the architecture and implementation of an industrial robot control system based on Windows NT. This robot control system, which is based on a single-processor structure, can run on general industrial computers. Owing to using Windows NT's real-time extension RTX, the control system can achieve good realtime performance and friendly user interface in one general-purpose operating system. A three layer hierarchical architecture of control software is proposed to make the system more scalable and flexible. Furthermore a communication and configuration system is implemented to enable modules to communicate with each other, which make the control system scalable and flexible.
基金Sponsored by the National High Technology Research and Development Program of China(Grant No.2002AA420110 -2).
文摘High-Voltage Live Cleaning Robot works in a hot-line environment (220 kV/330 kV), and so the safety of its application and equipment is most important. In terms of safety, the designs of robot mechanism and control system have been discussed, and the test data are given regarding the control system of a model machine. The model machine of a high-voltage live cleaning robot can satisfy the needs of basic cleaning in common conditions. From manual operation to automation, the cleaning efficiency is improved. The robot can decrease the amount of work, and guarantee security. Among high-voltage live cleaning equipment in China, the cleaning robot is advanced in automation and intelligence.
文摘To acquire human operation skill based on force sense, element contact form (ECF) is proposed to describe contact condition firstly. The skill is modeled as a sequence of discrete ECFs. Since different ECF has different force distribution, a support vector machine classifier is built to identify the contact conditions according to the force signal. Finally, the robot can obtain the skill from the human demonstration.
基金National High Technology Research and Development Programof China (863program,No.2002AA42D110-2)
文摘The 3D object visual tracking problem is studied for the robot vision system of the 220kV/330kV high-voltage live-line insulator cleaning robot. The SUSAN Edge based Scale Invariant Feature (SESIF) algorithm based 3D objects visual tracking is achieved in three stages: the first frame stage,tracking stage,and recovering stage. An SESIF based objects recognition algorithm is proposed to find initial location at both the first frame stage and recovering stage. An SESIF and Lie group based visual tracking algorithm is used to track 3D object. Experiments verify the algorithm's robustness. This algorithm will be used in the second generation of the 220kV/330kV high-voltage live-line insulator cleaning robot.
文摘We investigated the vibration of a cleaning robot for hotline insulators, providing a flexible elevating link with a rigid moving link at the end. A Lagrange dynamic model is established based on the assumed mode method. An approach is proposed to reduce residual vibration of the flexible elevating link by optimizing acceleration of rigid link using the Pontryagin maximum principle (PMP). A numerical solution to the proposed optimization problem including a two-point boundary-value problem (2PBVP) is developed. Residual vibration of the flexible elevating link of the optimal acceleration profile is compared with that of the optimal trapezoid velocity profile. The result shows that the proposed trajectory optimization method can reduce the residual vibration more effectively.
基金The National Natural Science Foundation of China(No.60575049)
文摘In this paper,three dimensions kinematics and kinetics simulation are discussed for hardware realization of a physical biped walking-chair robot.The direct and inverse close-form kinematics solution of the biped walking-chair robot is deduced.Several gaits are realized with the kinematics solution,including walking straight on level floor,going up stair,squatting down and standing up.Zero Moment Point(ZMP)equation is analyzed considering the movement of the crew.The simulated biped walking-chair robot is used for mechanical design,gaits development and validation before they are tested on real robot.
文摘In order to alleviate the steady-state position error and the destabilizing effect of the nonlinear friction, a novel compensation method is presented, which modified the traditional Southward's compensation method. Estimated the nonlinear friction model using an identification method, the effect caused by its nonlinear component can be compensated, and an enhanced tracking performance is verified on a selectively compliant articulated robot arm(SCARA) robot.
基金Supported by the National 863 Scheme of China No.863-512-03-02
文摘A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brushless DC motor is founded. Disturbance factors and the compensated effect of the torque's closed loop based on current measurement are analyzed. Related simulations and experiments show that the system has good current tracking and anti-disturbances performance, which improve the force control performance of the robot in assembly.
文摘To make the detecting robot move on the surface of the finned tubes, a novel combined moving mechanism is developed. The combined moving mechanism is composed of sprocket wheel and drum-like small wheel installed on the chain. It can make the robot move independently in the direction parallel to the tubes and in the direction perpendicular to the tubes. This paper made a detailed discussion on the composition of the combined moving mechanism, the design method of the conjugate outline curve and the circular-arc outline curve of the drum-like small wheel that meshes with the tubes. The error of the circular-arc outline curve is also analyzed.
