Generalized proportional integral observer based control of an omnidirectional mobile robot

This paper presents an observer based trajectory tracking control system design for an omnidirectional mobile robot with MY wheel-II. MY wheel-II is a switch wheel mechanism. Switch wheeled omnidirectional mobile robots are complicated autonomous switched nonlinear systems. In this paper, the complicated switching dynamics, unmodeled dynamics and input–output cross-couplings are considered as an unknown time-varying perturbation input vector, which is online estimated by means of a generalized proportional integral observer. The original switched nonlinear multi-input multi-output system is then reduced to three decoupled double integrators in an approximate manner. Traditional proportional derivative controllers are then applied to the decoupled double integrators. In addition, only part of the robot model information is used in the control system design. Simulation and experimental tests illustrate the effectiveness of this practical control method.     

System design and control of an apple harvesting robot

There is a growing need for robotic apple harvesting due to decreasing availability and rising cost in labor. Towards the goal of developing a viable robotic system for apple harvesting, this paper presents synergistic mechatronic design and motion control of a robotic apple harvesting prototype, which lays a critical foundation for future advancements. Specifically, we develop a deep learning-based fruit detection and localization system using a RGB-D camera. A three degree-of-freedom manipulator is designed with a hybrid pneumatic/motor actuation mechanism to achieve dexterous movements. A vacuum-based end-effector is used for apple detaching. These three components are integrated into a robotic apple harvesting prototype with simplicity, compactness, and robustness. Moreover, a nonlinear control scheme is developed for the manipulator to achieve accurate and agile motion control. Field experiments are conducted to demonstrate the performance of the developed apple harvesting robot.     

基于模糊控制的机器人寻线控制系统改进设计

针对移动机器人寻线控制的传统寻线控制系统使机器人在导引线上摇摆前进的问题,引入模糊控制的思想,并在此基础上设计一种新型基于多传感器信息融合的寻线控制系统,并根据反模糊化结果和实验修正给出核心程序。实际运行显示此改进设计很大程度改变机器人寻线中的摇摆现象,实现平稳的寻线控制。此设计思想对各种条件下的移动机器人寻线控制具有一定参考价值。     

Motion detection using block based bi-directional optical flow method

Detecting moving objects from video frame sequences has a lot of useful applications in computer vision. This proposed method of moving object detection first estimates the bi-directional optical flow fields between (i) the current frame and the previous frame and between (ii) the current frame and the next frame. The bi-directional optical flow field is then subjected to normalization and enhancement. Each normalized and enhanced optical flow field is then divided into non-overlapping blocks. The moving objects are finally detected in the form of binary blobs by examining the histogram based thresholded values of such optical flow field of each block as well as the optical flow field of the candidate flow value. Our technique has been conceptualized, implemented and tested on real video data sets with complex background environment. The experimental results and quantitative evaluation establish that our technique achieves effective and efficient results than other existing methods.     

Motion control algorithms based on the dynamic modelling of kinematically redundant hybrid parallel robots

This paper discusses the motion control problem of kinematically redundant hybrid parallel robots that were recently proposed. The kinematic and dynamic models are firstly reviewed. It is pointed out that the robot can be decomposed into two parts and that each part can be analysed independently. A new hybrid approach is proposed based on this property of the robot. This approach includes an adapted computed-torque control scheme for the legs that operates in the joint space as well as a compensation of the errors of the platform applied in the Cartesian space. The convergence of this proposed approach is also verified using the Lyapunov stability theory. Two example architectures of kinematically redundant robots are built and experiments are conducted. Finally, the results are compared and analysed in order to validate the improvements provided by the proposed control method. It is shown that the proposed control scheme significantly reduces the position error. Potential extensions of this work are also discussed.     

基于云计算机器人WiFi控制链路研究

依据目前机器人的发展现状,结合云计算、WiFi技术,提出了网络机器人的设计理念,即基于WiFi的无线局域网机器人控制系统,使之能半脱离主控端,自主完成一些简单动作。通过TCP/IP协议中的套接字编程,使上位机能对机器人进行简单控制指令的遥控操作,实现人监控下的移动机器人半自主运动。该设计将机器人的智能化、模块化、网络化等特点进行了集中体现,极大地简化了传统机器人的设计,降低成本,并对未来机器人的发展方向提出了新思路。     

基于数据驱动的头部仿生机器人控制

本文介绍的“头部仿生机器人”是一款高度逼真的人体头部模型,它是基于STM32单片机控制,内部由电子和机械相结合的机器人,通过数据驱动来实现“头部仿生机器人”面部表情的变化。可以通过数据来驱动舵机位置变化,不同舵机位置变化的动作组合来实现愤怒、厌恶、害怕、高兴、悲伤和惊讶等基本表情的实现。本文对STM32控制芯片作了介绍,简述了2.4G无线模块的结构,文中介绍了在本次研究中的无线模块的测试方法及调试过程中遇到的难点和困难,最后,详细介绍了用数据驱动舵机的原理,并展现了最终的调试结果。     

除尘竞赛机器人及其控制策略研究

采用嵌入式微处理器、传感器和直流电机控制技术．设计基于16位高性能微处理器MSP430的除尘竞赛机器人。MSP430F5418微处理器通过红外传感器和电子指南针分别获得障碍物和角度信息。进行处理后控制机器人的避障和转向,通过各模块的协同工作使机器人顺利完成除尘任务。在第四届江苏省大学生机器人大赛除尘比赛中．除尘面积覆盖率达到80％以上,并取得一等奖,表明该除尘竞赛机器人具有成本低、可靠性高的特点,达到了设计要求。     

基于多传感器信息的自主式机器人模糊控制

通过对自主式机器人(AMR)运动学特性的研究，结合人工驾驶的知识经验和自主式机器人的角速度一线速度函数模型，设计了基于多传感器信息的机器人模糊控制系统。利用单输出模糊控制器实现对AMR的运动控制，便于单片机系统的实现，有助于提高控制系统的实时性。实验结果表明了所提出方法的有效性。     

工业机器人在自动化控制中的应用研究

目前,工业机器人已经广泛应用于工业领域.现如今,在工业自动化控制领域,工业机器人应用水平的高低已经成为衡量一个国家工业自动化水平高低的重要标准.文章首先介绍了工业机器人的基础知识,然后阐述了工业机器人在自动化控制中的应用依据,接着围绕控制系统探讨了工业机器人在自动化控制中的应用原理,最后对当前工业机器机器人在自动化中的...     

基于模型不确定逼近的RBF网络机器人自适应控制

利用RBF网络能以任意精度逼近任意的连续函数的特点,设计一种基于模型不确定逼近RBF网络机器人的自适应控制器。采用RBF网络可以大大加快学习速度,并避免局部极小问题,适合于实时控制要求。仿真结果表明,该控制算法具有较强的鲁棒性和较好的跟踪性。     

A novel approach to motion segmentation based on gamma distribution

We provide a new motion segmentation method in image sequences based on gamma distribution. Motion segmentation is very important because it can be employed for video surveillance, object tracking, and action recognition. The Gaussian mixture model (GMM) has been widely used as a distribution model for motion segmentation. However, we found that the gamma distribution model is more suitable than the GMM for the optical flow based motion segmentation. Experimental results show that the proposed method is very effective in producing accurate motion segmentation results in image sequences.     

基于图像运动检测的子场编码优化算法

针对等离子显示器中运动图像产生的动态伪轮廓现象,提出了一种基于图像运动检测的子场编码优化算法。该算法在分析常用动态伪轮廓和运动补偿算法的基础上,通过检测图像数据的变化差值判断图像的运动状态,并通过图像运动状态选择不同的显示灰度构成方式:静态图像选择全灰度级编码,动态图像选择较少灰度级编码,通过优化编码方式消除图像的动态伪轮廓。实验表明,算法减少了不同运动速度的图像因算法引起的人工纹理,保证了静态图像的显示细节,达到改善显示图像画质的目的。此外,该算法还具有处理速度快,易于硬件实现等优点。     

基于ARM处理器的吸尘机器人硬件设计

设计一款具有自主吸尘功能并且结构简单、成本低的小型家用吸尘机器人,实现了室内半自动或者全自动的清洁工作,从一定程度上代替人们做繁杂的家务。在硬件选型上,以ARM Cortex??M3处理器为核心,设计了专门的电机驱动板,通过光电编码反馈电路实现行走模块的闭环控制。主要对传感器模块进行开发,通过合理布置传感器,采用多种传感器融合,使超声波和红外光电传感器协调工作实现对远近距离障碍物的精确检测,提高了对障碍物的准确识别,能够实现自主避障吸尘。     

基于机器人的多路超声波测距系统设计研究

介绍了机器人采集环境信息的必要性以及超声波传感器在该方面存在的优势，具体说明了8路超声波测丑巨模块的软、硬件的设计方法，并利用大量的实验测试数据，通过最小二乘法对超声波传感器进行了拟合，建立了超声波传感器的测距方程，为超声波传感器的使用提供了较好的数学模型。提出了一种新的多路超声波传感器测距排列方式，同时给出了在AEF—Ⅱ型移动机器人中的实际应用。     

自平衡机器人的模糊-PD控制

由于自平衡机器人是一种两轮左右平行布置的机器人,像传统的倒立摆一样,它的本身是一个自然不稳定体,必须要施加强有力的控制手段才能使之稳定.为了提高两轮自平衡机器人设计的可靠性,针对不稳定、非线性、强耦合的两轮自平衡机器人系统,运用牛顿力学方法建立了转向运动的数学模型.在模型中建立了模糊控制器,并用模糊控制加比例控制的方法...     

基于体感识别的辅助倒水机器人控制系统

为了更好的给老年人及残疾人提供服务,基于体感识别技术,设计了辅助倒水机器人控制系统。首先通过Kinect摄像头获取人体景深图像,然后利用体感识别控制算法对人体姿势进行识别,最后将识别结果转换为控制命令传输到辅助倒水机器人使其执行相应动作。实验表明,辅助倒水机器人具有良好的操控及执行性能,能较好地满足老年人及残疾人的需求,对服务型机器人领域的发展研究具有很好的参考价值。     

基于C51单片机智能机器人触觉导航系统设计

触觉传感器在智能玩具和机器人导航方面有着广泛的应用,作者根据触觉传感器的这一特性设计出一款智能机器人导航电路,详细介绍了导航系统设计方案、硬件电路的组成以及软件的编程思路;并通过测试,提出了机器人进入90度墙角之后的人工决策办法,可以使机器人顺利地从墙角死区退出。     

Design and implementation of the motion control system of the mobile robot based on PID

A kind of motion control system of the autonomous mobile robot was introduced,and a PID closed-loop control method was proposed that controlling the robot moving along the expected direction and speed effectively through establishing the kinematics model of the autonomous mobile robot.In addition,the modular software program and the hardware system were developed whose main components were the STC12C5A60S2 microprocessor,the MC33886 motor driver chip and hall sensors.Finally,experiments proves the control method and the system effective and stable.     

解剖约束条件的数据手套校正及其在机械臂控制中的应用

通过对人手解剖约束条件的分析,把解剖约束条件应用于数据手套中的独立传感器和交叉—耦合传感器的校正,对校正结果进行了分析,使得数据手套能够采集到更准确的人手运动信息,并将校正后的数据手套应用到机械臂的控制中。实验表明,校正之后的数据手套能够更准确地采集信息,极大改善了机械臂控制中的精确性。