Prediction of geometric errors of robot manipulators with Particle Swarm Optimisation method

This paper reports on the prediction of the expected positioning errors of robot manipulators due to the errors in their geometric parameters. A Swarm Intelligence (SI) based algorithm, which is known as Particle Swarm Optimization (PSO), has been used to generate error estimation functions. The experimental system used is a Motoman SK120 manipulator. The error estimation functions are based on the robot position data provided by a high precision laser measurement system. The functions have been verified for three test trajectories, which contain various configurations of the manipulator. The experimental results demonstrate that the positioning errors of robot manipulators can be effectively predicted using some constant coefficient polynomials whose coefficients are determined by employing the PSO algorithm. It must be emphasized that once the estimation functions are obtained, there may be no need of any further experimental data in order to determine the expected positioning errors for a subsequent use in the error correction process.     

Overall design of the multifunctional walking rehabilitation robot

In this paper,it introduced the mechanical structure design of the multifunctional walking rehabilitation robot.We used the Solid Works to design and assemble the rehabilitation robot,and optimized the rehabilitation robot based on ergonomics.The result shows that the multifunctional walking rehabilitation robot has the characteristics of complete functions,convenient operation,compact structure and so on.It can meet the requirements of medical care equipment,and effectively complete the nursing work of patients.     

Integration of Heterogeneity for Human-Friendly Robotic Operations

The objective of this paper is to develop an analytical scheme to integrate the heterogeneity of human and robot functions to achieve a human-friendly robotic operations. The heterogeneity of human and robot functions can be characterized by the fact that humans are intelligent while robots are fast, powerful and accurate. Humans can use their knowledge and experience to quickly respond to unexpected events, which makes it easy for humans to deal with unstructured environments. In contrast, robots can easily enhance the mechanical power of humans and the ability of humans to work remotely. Therefore, robots are capable of performing precise and repetitive tasks at high speed or in a hazardous environment. The important issue, in light of human/robot heterogeneity, is how to plan and control a robotic operation such that the human and the robot can cooperate in a complementary manner. Thus, a task which cannot be done by either human or robot alone can be performed efficiently and robustly by both. This paper introduces a new paradigm for human/robot interactive systems, heterogeneous function-based human/robot cooperation. A new perceptive action reference frame has been developed in the paper. It matches human perception and robot sensory measurement, and provides a platform for modeling the human/robot cooperative operations. The theoretical results presented in the paper have laid down a foundation for stability analysis as well as a planning and control system design of human/robot integrated systems. The implementations and experimental results have clearly demonstrated the advantages of proposed methods.     

基于Android的家居机器人的设计与实现

针对家具重量一般较大、搬运费时费力等一系列问题,本文提出了基于Android 的家居搬运机器人的全新理念;设计一款APP具备视频传输、运动控制、模式切换、机械臂控制和参数设置等功能。经过测试,该软件可以实现对机器人进行控制,并且拥有易于使用、代码简便、能够对特定需求进行二次开发等优势,具有较大的应用潜力。     

基于传感器融合技术的机器人远程控制系统设计

结合数据融合技术与无线传输技术,提出了一种基于传感器融合的机器人远程控制系统设计方法。机器人端采用FMCE毫米波雷达与摄像机进行多传感器融合,机器人端与远程PC端采用局域网进行通信,本地PC端对机器人进行远程控制时功能主要有两个,第一个是根据现场作业环境实时控制机器人移动,第二个是在PC端选择目标对象后让机器人生成行驶路径后自动跟踪目标对象,路径跟踪控制器采用的是线性二次型调节器(LQR),这种基于传感器融合的机器人远程控制系统设计方法,具有高效、智能、可靠、精确等优点,可以应用于各种需要机器人协助完成的任务中,如无人巡检、智能交通等领域。     

A playmate robot system for playing the rock-paper-scissors game with humans

We have developed a playmate robot system for playing the rock-paper-scissors game with humans. The playmate robot recognizes the hand motions of a human using image processing without attaching any additional units to the human. The playmate robot system consists of three parts: a game management part, a hand motion recognition part, and a robot hand control part. The system functions as follows. (1) Before the game is played, the game management part decides on the motion of the robot hand from amongst rock, paper, and scissors. After the game is played, the robot develops a reaction using speech and facial expressions depending on the result of the game. (2) The hand motion recognition part recognizes the hand motion of the human. It does not use any additional units on the human’s body, only a camera on the robot. (3) The robot hand control part shows the motion of the robot hand. A robot hand has four fingers that are controlled independently. We have played the rock-paper-scissors game with this playmate robot.     

具有无线通讯功能的挖掘机器人的设计与实现

介绍了具有无线通讯、智能寻径等功能的挖掘机器人的设计与制作;该挖掘机器人以玩具小车为车体,直流电机及其控制电路为整个系统的驱动部分,采用上、下位机分级控制模式作为挖掘机器人智能控制系统的组成方式,利用PTR2000实现上位机和单片机之间的无线数据传输,并加以多种传感器以实现挖掘机器人的智能寻径与自主挖掘等功能;测试结果表明,在该控制系统下,挖掘机器人工作准确可靠,该系统可作为智能机器人进一步研究的平台.     

Design of a teaching pendant program for a mobile shipbuilding welding robot using a PDA

Teaching pendant is a handheld device by which a human can control a robot. The main functions of a teaching pendant are moving the robot, teaching it about the locations, running robot programs, and jogging the axes. A teaching pendant is usually connected to the robot by a cable. The cable connection and the size of the teaching pendant generally do not pose a problem when the robot controller is separate from the robot. However, a large teaching pendant connected by a cable is not suitable for a self-propelled mobile robot with an internal controller. This paper describes the communication network of a personal data assistant (PDA) as a wireless teaching pendant for a mobile shipbuilding welding robot with embedded controller system that welds and moves autonomously inside the double hull structure of a ship. A double hull is a closed structure that has only a few access holes. It is very difficult and dangerous to weld components inside a double hull structure because of fumes, poisonous gas, and high temperatures. Using a wireless teaching pendant has the following advantages: (1) there are no limits to the welding activities that can take place, (2) the safety level increases because no workers are in close proximity to the robot, (3) workers are far away from the dangerous environmental conditions, (4) it is possible to reduce the weight of the cable connected to the robot, and (5) it is possible to reduce the weight of the robot because of the reduced load of the teaching pendant and the cable. We demonstrate the functionality and performance capabilities of our wireless teaching pendant through field-testing experiments.     

A framework for the collective movement of mobile robots based on distributed decisions

A novel framework for the control of the collective movement of mobile robots is presented and analyzed in this article. It allows a group of robots to move as a unique entity performing the following functions: obstacle avoidance at group level, speed control and modification of the inter-robot distance. Its flocking controller is distributed among the robots, allowing them to move in the desired common direction and maintain a desired inter-robot distance. The framework is made up of different modules that modify the behavior of the group thus allowing different functions. They are based on consensus algorithms that allow the robots to agree on different parameters, taking into account which robot has more relevant information. New modules can be easily designed and incorporated into the framework in order to augment its capabilities. It can be easily implemented on any mobile robot capable of measuring the relative positions of neighboring robots and communicating with them. It has been successfully tested using 8 real robots and in simulation with up to 40 robots, demonstrating experimentally its scalability with an increasing number of robots.     

Waypoint Following for Differentially Driven Wheeled Robots with Limited Velocity Perturbations

In this paper a unified motion control strategy dedicated for the waypoint following task realized by a differentially driven robot is presented. It is assumed that the vehicle moves with limited velocities and accelerations in order to reduce excessive slip and skid effects. In order to include operational constraints, a motion planner is combined with a universal stabilizer taking advantage of transverse functions. To improve tracking precision translated transverse functions are deployed and a new adaptive technique for the controller tuning is proposed. During the motion planning stage an auxiliary trajectory connecting points in the configuration space and satisfying assumed phase constraints is generated. The resulting motion execution system has been implemented on a laboratory-scale skid-steering mobile robot, which served as platform for experimental validation of presented algorithms.     

高压带电作业双臂机器人系统设计

摘要：传统带电作业采用人工方式,但高空、高压危险作业环境与高劳动强度对作业人员人身安全构成一定威胁。针对10KV配电网带电作业的实际需求,采用12米高液压升降平台和两台协作型六轴机械臂,设计开发了双臂六轴机器人系统。采用ARM嵌入式处理器,设计开发了双臂机器人控制器硬件和软件,根据实际作业应用需求,给出了机械臂运动路径规划方法,通过WiFi无线通讯方式和SOCKET编程实现了对双臂机器人的现场操作控制,采用LoRa无线通讯网络,设计开发了LoRa主站模块和LoRa专用工具模块,采用LoRa定点扫描通讯方式,实现了各工具模块和机器人控制器的相互通讯。在某培训实验基地10KV配电线路上,对带电作业机器人系统进行了现场实验,验证了剥皮、接引流线等各项设计功能,机器人从接收到剥皮指令开始到剥皮作业完成,整个过程用时3分20秒;完成接引流线作业全程用时2分50秒。     

ASURO机器人的信息新技术实践应用与发展

文章简要介绍了ASURO机器人的构成、电路的组装要点及编写程序所涉及到的主要函数，并应用C语言实际编写了一段程序使ASURO机器人完成了某种特定的功能，同时也给出了亲身调试过程中所收获的经验、技巧，这将对进一步开发ASURO机器人的功能具有指导意义。     

补偿机器人定位误差的神经网络

先进的机器人由计算机执行程序来完成各种作业，靠计算关节变量的函数得到手爪的位姿，这些函数一般不准确，使计算值与实际值有较大误差；重复精度０．１ｍｍ的机器人该误差可能达到１０ｍｍ。已有的机器人运动学误差补偿方法需要分析误差来源，使其参数化，并辨识这些参数，六自由度机器人的这种参数已达７２个之多。本文提出一种机器人运动学误差补偿的神经网络模型，利用改进的误差反传（ＢＰ）学习算法，在ＲＭ－５０１机器人进     

一种外骨骼辅助康复机器人设计与实现

随着我国社会老龄化程度加深及各种意外伤害事故频发,下肢运动障碍患者持续增加,各种辅助康复机器人技术迅速发展;为帮助患者改善下肢运动功能,设计了一种基于TI高性能处理器的四自由度下肢外骨骼康复机器人,采用分布式控制系统结构,以组态屏为上位机,各关节驱动采用驱控一体化模块,使用C++语言编写机器人控制程序。通过实物样机实验,康复机器人可辅助患者完成正常步态行走、起立、坐下等基本功能,具有操作简便、结构轻巧、控制精度良好、成本较低等优点。     

基于ARM的灭火机器设计

以室内环境为研究对象,设计了一个自主行走的灭火机器人。系统以ARM单片机为核心控制单元,结合避障传感器、红外传感器和灰度传感器等实现了机器人自主行走并灭火。根据环境参数要求,对机器人的设计方案进行了合理的选择和分析,实现了机器人稳定、快速、精确消灭火源。通过实例验证,设计方案稳定可靠,机器人可在10秒内完成寻找火源并灭火。     

Compact laparoscopic assistant robot using a bending mechanism

This paper presents the development of a compact laparoscopic assistant robot. The robot was designed to increase convenience and reduce possible interference with surgical staff by confining the majority of motions inside the abdomen. Its size was miniaturized as much as possible for convenient handling. A bending mechanism composed of several articulated joints was introduced to produce motions inside the abdomen. The proposed assistant robot can generate 3-DOF motion, including 2-DOF internal bending motion and 1-DOF external linear motion. Since the robot itself functions as a laparoscope, a small CCD camera module and a bundle of optical fibers were integrated as part of the system. For accurate control, mathematical modeling of the bending mechanism and a method of hysteresis compensation were introduced and implemented. For the control of the robot, a voice interface and a visual-servoing method were implemented. The performance of the developed system was tested through solo-surgery of in vivo porcine cholecystectomy. It was found that the views generated by the bending mechanism were sufficient throughout the surgery. Since the robot has functions comparable to the previously developed systems, while retaining its compactness, it is expected to be a useful device for human cholecystectomy.     

An improved approach to the solution of inverse kinematics problems for robot manipulators

A structured artificial neural-network (ANN) approach has been proposed here to control the motion of a robot manipulator. Many neural-network models use threshold units with sigmoid transfer functions and gradient descent-type learning rules. The learning equations used are those of the backpropagation algorithm. In this work, the solution of the kinematics of a six-degrees-of-freedom robot manipulator is implemented by using ANN. Work has been undertaken to find the best ANN configurations for this problem. Both the placement and orientation angles of a robot manipulator are used to fin the inverse kinematics solutions.     

The manipulator language with the characteristic of a functional programming language

This article describes the motion-oriented robot language IML (interactive manipulator language) with the characteristic of a functional programming language. The main functions of IML are (1) It is possible to describe the iterative motions without using a loop. (2) The user-defined procedures (commands) can be called by specifying the command name. (3) It is possible to describe robot motion (a sequence of the position and orientation of a robot hand) and force magnitude in the task-oriented Cartesian coordinate system (task coordinate system) suitable for robot tasks. Furthermore, it is possible to describe the translation and rotation of the coordinate system without syntactic distinction. (4) As the teaching data can be easily embedded in the language and can be played back in the force control mode, complex task programming becomes easy. In IML, as the user-defined command and the teaching data can be used just as the builtin system command; the system can be extended easily and naturally. In this article these features are described, and it is shown that these functions can be realized with the unified representation by introducing the concept of a functional programming language. The effectiveness of IML was confirmed by actually making a robot perform some tasks programmed in IML.     

小车远程控制及自主寻路系统的设计与实现

智能机器人可通过传感器获取周围的地形、温度等信息,并加以分析处理而采取对应策略。然而,机器人可能由于本身不具备定位功能而只能进行简单控制,也可能因为障碍物信息采样不足而导致避障算法失败。面对这一类问题,设计并实现了一套能对智能车进行远程控制并令其自主寻路的系统。该系统通过高效的图像处理与识别对智能车自动定位;对现有避障算法进行了改进,并建立了避让策略来保证智能车总能找到一条抵达目标的安全路径。实验结果表明,该系统定位精度较高,控制与寻路功能具有一定的可靠性与实用性。     

Evolution of Fuzzy Controllers for Robotic Vehicles: The Role of Fitness Function Selection

An important issue not addressed in the literature, is related to the selection of the fitness function parameters which are used in the evolution process of fuzzy logic controllers for mobile robot navigation. The majority of the fitness functions used for controllers evolution are empirically selected and (most of times) task specified. This results to controllers which heavily depend on fitness function selection. In this paper we compare three major different types of fitness functions and how they affect the navigation performance of a fuzzy logic controlled real robot. Genetic algorithms are employed to evolve the membership functions of these controllers. Further, an efficiency measure is introduced for the systematic analysis and benchmarking of overall performance. This measure takes into account important performance results of the robot during experimentation, such as the final distance from target, the time needed to reach its final position, the time of sensor activation, the mean linear velocity e.t.c. In order to examine the validity of our approach a low cost mobile robot has been developed, which is used as a testbed.