机械臂的动态混合控制

本文研究当机械臂的终端受有约束时的控制问题,其中心内容是给出“任务规范投影算子”的概念,利用它首先将机械臂的动态方程解耦为两组方程,它们分别描述了运动与约束力,在此基础上给出了机械臂的控制律,使闭环系统跟踪期望的速度与约束力。     

Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans

A mobile robot exploring an unknown environment has no absolute frame of reference for its position, other than features it detects through its sensors. Using distinguishable landmarks is one possible approach, but it requires solving the object recognition problem. In particular, when the robot uses two-dimensional laser range scans for localization, it is difficult to accurately detect and localize landmarks in the environment (such as corners and occlusions) from the range scans.In this paper, we develop two new iterative algorithms to register a range scan to a previous scan so as to compute relative robot positions in an unknown environment, that avoid the above problems. The first algorithm is based on matching data points with tangent directions in two scans and minimizing a distance function in order to solve the displacement between the scans. The second algorithm establishes correspondences between points in the two scans and then solves the point-to-point least-squares problem to compute the relative pose of the two scans. Our methods work in curved environments and can handle partial occlusions by rejecting outliers.     

45号钢二次枝晶臂间距与冷却速度的关系

本文利用可控平均冷却速度的单向凝固实验炉测定了４５号钢在不同平均冷却速度下的冷却曲线，由此得到其在凝固期间的平均冷却速度Ｒ，相应地测量了不同平均冷却速度下试样的二次枝晶臂间距Ｓ２，通过回归，得到了如下关系式：Ｓ２＝７２７Ｒ－０．４１，并将引式成功地应用于实际生产中。     

空间机器人姿态与末端抓手协调运动的鲁棒自适应控制

本文讨论了载体姿态受控、位置不受控制的漂浮基空间机器人协调运动的控制问题。借助于虚拟扩展系统的输入与输出,得到了一组关于惯性参数呈线性函数关系的系统控制方程。以此为基础,针对空间机器人系统中不确定参数与未知参数并存的复杂情况,设计了载体姿态与末端抓手惯性空间轨迹协调运动的鲁棒自适应控制方案。利用两杆空间机器人系统进行了系统仿真运算,仿真结果证实了上述控制方案的有效性。由于对系统待估计参数作了分类,并充分利用系统信息对系统不确定参数采用保持鲁棒性而不是在线估计的方法,提到的控制方案具有计算量小的优点,有助于缓解机载计算机运算能力有限的矛盾。     

一种新的位置数据融合方法的研究

给出了一新的基于团队一致法的多传感器位置数据融合方法，该方法按传感器队中的每个成员的测量不确定性，构造团队期望效用函数（或密度），并基于该期望效用函数求得位置参数估计，其优点是可消除失效传感器和测量值为野值的传感器的影响，本文给出了仿真结果。     

Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225     

The Influence of Gravity on Trajectory Planning for Climbing Robots with Non-Rigid Legs

In this paper questions related to the occurrence of departures of a legged climbing robot from the given trajectory are considered. The basic idea of the paper is to show that, if there are slackness and non-rigidities, the legged climbing robot moving upon an inclined or vertical plane, departs systematically from the planned trajectory. It is demonstrated that these departures result from the gravity and are of systematic character. It is also shown how the inclusion of torsion effect changes substantially the nature of systematic errors arising from robot's movement along the inclined surface.     

步行机攀登横杆的受力模型及分析

针对４足步行机器人的横杆攀登过程，在考虑弹性变形的基础上利用刚度矩阵建立其受力模型，并通过计算机仿真对攀登过程的不同情况进行了分析，其结果为具有攀登功能的步行机构结构设计及控制算法确定提供了理论依据。     

Manipulating Deformable Linear Objects: Fuzzy-Based Active Vibration Damping Skill

Human can handle a deformable object and damp its vibration with recognized skill. However, for an industrial robot, handling a deformable object with acute vibration is often a difficult task. This paper addresses the problem of active damping skill for handling deformable linear objects (DLOs) by using a strategy inspired from human manipulation skills. The strategy is illustrated by several rules, which are explained by a fuzzy and a P controller. A proportional-integral-derivative (PID) controller is also employed to explain the rules as a comparison. The interpretations from controllers are translated into high level commands in a robotic language V+. A standard industrial robot with a force/torque sensor mounted on the wrist was employed to demonstrate the skill. Experimental results showed the fuzzy based damping skill is quite effective and stable even without any previous acknowledge of the deformable linear objects.Category (5)