一种新的双足机器人模型设计与相关研究

针对双足机器人最简模型在行走过程中出现摆动腿足部擦地的问题,提出了一种通过摆动腿膝关节弯曲达到摆动腿缩短的新模型。当摆动腿开始摆动时,摆动腿膝关节弯曲锁定,摆动腿缩短;当摆动腿摆动到最大位置时,膝关节解锁,摆动腿伸直再锁定,此后摆动腿回摆,系统变为直腿模型。采用脚后跟冲击控制,在摆动腿落地前,拖后的支撑腿与地面接触处施加一指向髋关节的瞬时冲击力,冲击力可以减小摆动腿着地时能量的损耗,同时驱动被动机器人向前行走。设计了迭代学习控制算法,找到极限环与不动点,实现不同给定期望步长跟踪的冲击力的计算。仿真结果表明,迭代学习控制可以有效的实现不同期望步长的跟踪,可以很快的找到机器人系统的不动点,通过收敛的相平面,得到稳定的极限环,保证了机器人行走过程稳定。     

基于滑模控制的室内移动机器人路径跟踪

为解决室内环境下移动机器人的路径跟踪问题,建立了移动机器人的数学模型,并构造一种新型滑模控制趋近律。采用该趋近律设计滑模控制律,并利用李雅普诺夫定理证明了系统稳定性。采用所设计的滑模控制器对室内移动机器人进行路径跟踪实验,仿真结果验证了该方法的有效性。     

双臂空间机器人相对载体运动的增广自适应控制方法

本文讨论了载体位置、姿态均不受控制情况下,漂浮基双臂空间机器人末端爪手基联坐标系内轨迹跟踪的自适应控制问题.系统运动学、动力学分析结果表明,结合系统动量守恒关系得到的双臂空间机器人系统动力学方程,可以表示为一组新的适当选择的系统组合惯性参数的线性函数;从而克服了惯常的空间机器入系统动力学方程,关于系统惯性参数呈非线性函数关系的难点.以此为基础,并借助于增广变量法,针对双臂空间机器人末端爪手所持载荷参数未知的情况,设计了漂浮基双臂空间机器人末端爪手基联坐标系内轨迹跟踪的增广自适应控制方案.提出的控制方案具有不需要反馈、测量漂浮基的位置、移动速度及移动加速度的显著优点.系统数值仿真,证实了方法的有效性.     

Dynamic analysis and system identification of an LCD glass-handling robot driven by a PMSM

In this paper, Hamilton’s principle is employed to derive Lagrange’s equations of an liquid crystal display (LCD) glass-handling robot driven by a permanent magnet synchronous motor (PMSM). The robot has three arms driven by two timing belts. The dynamic formulations can be expressed by one and four independent variables, which are named as the rigid and flexible models, respectively. In order to verify the dynamic formulation is correct, we reduce the flexible model to the rigid one under some assumptions. In this paper, we adopt the real-coded genetic algorithm (RGA) to identify all the parameters of the robot and PMSM simultaneously. It is found that the RGA can identify system parameters which are difficult to be measured in practical problems, for examples, the inductance, stator resistance, motor torque constant, damping coefficient of the motor and timing belts. In numerical simulations, vibrations due to flexibility of the timing belts are investigated for the angular displacements, speeds, accelerations of arms, and the horizontal and vertical displacements of the robot. The angular displacements of the robot arm and the translational positions of the robot end are obtained in the numerical simulations and experimental results. From their comparisons, it is demonstrated that identification results of the dynamic model with four independent variables present the better matching with experimental results of the system.     

Fast detection, position and classification of moving objects on production line

This paper presents a decision analysis method for detection, position and classification of moving objects on automatic production line. The decision is based on the coordinates of moving objects in the image frames, and the displacement information provided by servo motor control synchronized with a conveyor belt. Multiple objects to identify duplication or omission can be avoided. The method for smart packing robot can provide reliable location information of measured objects.     

Beamline AR‐NW12A: high‐throughput beamline for macromolecular crystallography at the Photon Factory

AR‐NW12A is an in‐vacuum undulator beamline optimized for high‐throughput macromolecular crystallography experiments as one of the five macromolecular crystallography (MX) beamlines at the Photon Factory. This report provides details of the beamline design, covering its optical specifications, hardware set‐up, control software, and the latest developments for MX experiments. The experimental environment presents state‐of‐the‐art instrumentation for high‐throughput projects with a high‐precision goniometer with an adaptable goniometer head, and a UV‐light sample visualization system. Combined with an efficient automounting robot modified from the SSRL SAM system, a remote control system enables fully automated and remote‐access X‐ray diffraction experiments.     

An asymptotically stable collision-avoidance system

Artificial potential fields, which are widely used in robotics for path planning and collision avoidance, are normally beset by difficulties arising from the existence of local minima. This article proposes a solution that involves an asymptotically stable point-mass system governed by differential equations. The system represents a planar point robot moving from its initial position to the desired goal whilst avoiding a static obstacle. Because the system is asymptotically stable, its Lyapunov function, which produces artificial potential fields around the goal and the obstacle, has no local minima other than the goal configuration in the pathwise-connected proper subset of free space which contains the goal configuration. As an application, we consider the point stabilization of a planar mobile car-like robot moving in the presence of a static obstacle.     

Prototype design of a translating parallel robot

The paper describes the mechanical design of a parallel manipulator for motions of pure translation, whose kinematic analysis has shown very good performances such as a large workspace and small overall dimensions of the mobile platform; in particular, the “Cartesian” structure of the machine allowed to obtain constant accuracy and kinematic properties throughout the workspace. The structural design has minimized the mass of the moving links and, by the combined use of FEM and multibody codes, allowed to take into consideration the high stresses coming from inertial forces and to evaluate a-priori the resulting dynamic properties. A physical prototype has just been built in order to validate the developed models and assess the actual robot performances in real operating conditions. The present research has been partially co-funded by the Italian Ministry of Research and University and by the Polytechnic University of Marche under PRIN03 project “Design and prototyping of application-oriented mini-PKM”.     

旋量法在机器人动力学分析中的应用

本文用旋量方法研究机器人的动力学模型，将速度和角速度，力和力矩的内在联系有机地融合为一体，使Ｎｅｗｔｏｎ－Ｅｕｌｅｒ方法更加简明有效率．文中相对于机器人各臂质心建立参考系，使惯性张量和质心加速度计算简化，进一步减少计算量，达到快速实时计算．     

一种基于单目视觉的移动机器人室内导航方法

针对室内导航的环境特点,提出了一种简单快速的、以踢脚线为参考目标的移动机器人室内导航方法。该方法从图像中提取踢脚线作为参考直线,通过两条直线在图像中的成像特征,提取角度和横向偏离距离作为移动机器人的状态控制输入,从而实现移动机器人的横向运动控制。该方法无需进行摄像机的外部参数标定,大大简化了计算过程,提高了视觉导航的实时性。