小型多自由度机器人舵机群控制系统设计

针对小型多自由度机器人关节控制的需求,提出一种高精度多路PPM信号生成方法。具体介绍了系统的硬件电路和软件实现方法。对多路PPM信号的生成方法和数据排序算法等系统的关键部分进行了详细的阐述。测试结果表明,系统生成的24路PPM信号时间精度可达2us,精度误差小于0.2us。     

仿人机器人的分布式控制系统设计

针对仿人机器人系统自由度多,实时性与可靠性要求高的特点,设计了基于CAN总线的具有Windows与RT-Linux系统的双主机的主控层结构的分布式控制系统,整个控制系统采用集中管理分散控制的方式,按照控制系统的结构和功能划分为主控层、通信层、协调执行层3层。CAN总线与一般通信总线相比,它的数据通信具有较强的实时性,并且CAN总线连线简单,降低了系统连线的复杂程度,增强了系统的可靠性。其中基于Windows的控制系统负责仿人机器人关节电机的调试以及传感数据的显示;基于RT-Linux的系统实现机器人的实时运动控制。实验表明提出的分布式控制系统操作简便、安全可靠、实时性强,能充分满足仿人机器人系统调试与运动控制的要求。     

Model-Driven Interactive System Design for Therapy Robots

Physiotherapy using intelligent robots is emerging as a new approach to recovery for many stroke patients. Although therapy robots have a strong potential in dealing with therapeutic and other medical applications, they have not been fully utilized in everyday therapy activities due to concerns over safety and the lack of friendly robot user/patient interaction models. From the viewpoint of software engineering, a user-centred design based on UML (Unified Modelling Language) has been known to be one of the best solutions to satisfy usability since the design process relies heavily on the analysis of users and their tasks to reach their goals. Therefore, a model-driven approach to interactive system design via UML for therapy robots is needed to make them usable in the real world. This paper proposes such approach and introduces a new graphical notation that describes user interface elements and the methods of connection with hardware/software objects. With the proposed abstract interaction models, prototyping interactive systems can be made faster and allows for their evaluation by users and system developers before implementation in order to improve usability from the perspectives of users and system developers.     

Planar Cable-Direct-Driven Robots: Design for Wrench Exertion

Cable-direct-driven robots and haptic interfaces are appealing because of their structural simplicity, high stiffness, and high exerted wrench-to-weight ratio. A major drawback is that cables can only exert tension. Therefore, actuation redundancy is required to apply general wrenches (force/moment vectors). Even with actuation redundancy, not all desired wrenches can be applied in some configurations due to one or more negative cable forces required. In addition, cable interference can be a serious problem for these devices. The objective of this article is to present the best design for planar cable-direct-driven robots and/or haptic interfaces with one degree of actuation redundancy, with regard to general wrench exertion and cable interference. Results indicate that the cable interference constraint dominates which suggests the need for future design work to alleviate this interference.     

非完整机器人Leader-Follower编队控制器设计

编队控制是多机器人协作的最重要的研究领域,其目的是控制组中的机器人的相对位置和方向,让机器人移动作为一个整体.Le-ader-follower策略已经广泛地应用到多机器人系统编队控制中.文中涉及了非完整移动机器人leader-follower编队控制问题,然后描述了基于leader-follower策略的控制方法,最后采用输入/输出反馈线性化方法设计控制器,以确保编队的渐进稳定.在保持理想的相对距离和转向角时,该控制器能够有效地稳定编队.仿真结果表明了该编队控制方案的有效性.     

移动机器人的一种烟花爆炸式新免疫规划算法

针对移动机器人路径规划避障难和搜索路径等问题,要求机器人从起点到终点能搜索一条最优无碰路.为解决上述问题,提出了一种新的烟花爆炸式免疫算法(FEIA).在免疫遗传算法(IGA)基础上,引入烟花爆炸机制进行种群更新,即在算法进化过程中,当种群达到预设爆炸代数时,从种群中提取若干较优个体和若干较差个体,将较优个体进行邻域扩展,并对扩展结果与较差个体择优进行种群重组.函数优化结果表明,与其它算法相比,FEIA收敛速度更快,搜索精度更高,且能有效地解决早熟收敛问题.而路径规划结果表明,在不同复杂环境中,FEIA能实现机器人的最优路径搜索及避障,显示出较强的搜索能力和鲁棒性.     

非完整机器人Leader-Follower编队控制器设计

编队控制是多机器人协作的最重要的研究领域,其目的是控制组中的机器人的相对位置和方向,让机器人移动作为一个整体。Le-ader-follower策略已经广泛地应用到多机器人系统编队控制中。文中涉及了非完整移动机器人leader-follower编队控制问题,然后描述了基于leader-follower策略的控制方法,最后采用输入/输出反馈线性化方法设计控制器,以确保编队的渐进稳定。在保持理想的相对距离和转向角时,该控制器能够有效地稳定编队。仿真结果表明了该编队控制方案的有效性。     

面向伺服机器人应用的可重构微控制器设计

为简化伺服机器人内部通信结构,增强机器人通信能力,提升处理速度,解决多轴协调控制问题,介绍了一种基于NIOSⅡ处理器和FPGA(Field Programmable Gate Array)的面向伺服机器人内部通信的可重构微控制器的设计方法.采用可编程技术和32位高性能NIOSⅡ处理器并自定义标准外设CAN总线控制器及PWM,在Altera公司的CycloneⅡ系列EP2C20芯片内实现带CAN总线及PWM波输出功能的可重构微控制器.充分利用NIOSⅡ微处理器的高速运算能力和FPGA逻辑功能由硬件电路实现,计算速度快(纳秒级)的能力,大大减少了微控制器外围接口器件,有效降低成本,提高了微控制器的集成度和灵活性.实验表明,控制器性能可靠且能代替传统伺服机器人中常使用的专用微控制器芯片,满足伺服机器人中的通信需求.     

A Novel Robust Leader-Following Control Design for Mobile Robots

To extend the utility of multiple mobile robots (MMRs) in formation on a larger scale, the algorithms developed for control of such robots must be robust. The majority of the developed controllers in the literature lack incorporating dynamics of the MMRs or lack robustness in their design. The very few recently developed robust controllers that consider dynamics, either rely on conservative assumptions to obtain robustness, or are sliding-mode based which suffer from the chattering problem. In this paper, (1) we consider both kinematics and dynamics as well as the actuator dynamics and their uncertainties in formulating the formation of non-holonomic MMRs, (2) we develop a novel robust control technique that can effectively handle the unknown parameters and uncertainties in the system, (3) unlike other papers, we relax the conservative assumptions to arrive at control design, and present rigorous mathematical analyses for the development of robust control and prove the system stability based on the Lyapunov theorem. Simulation results proved the effectiveness of the developed robust control method. It was concluded that the proposed control method, while not being conservative, is easy to use and can be readily adopted in real-time experiments.     

轮式机器人滑模轨迹跟踪控制器设计

轮式机器人是一个典型的非完整性系统。由于非线性和非完整特性,很难为移动机器人系统的轨迹跟踪建立一个合适的模型。介绍了一种轮式机器人滑模轨迹跟踪控制方法。滑模控制是一个鲁棒的控制方法,能渐近的按一条所期望的轨迹稳定移动机器人。以之为基础,描述了轮式机器人的动力学模型并在二维坐标下建立了运动学方程,根据运动学方程设计滑模控制器,该控制器使得机器人的位置误差收敛到零。     

A New Tuning Procedure for PID Control of Rigid Robots

This paper is concerned with classical PID control of rigid robots. We introduce a tuning procedure for selection of the PID gains ensuring asymptotic stability in a domain which can be enlarged arbitrarily. The novelty of our approach relies on the fact that conditions for stability are formulated as expressions that have to be satisfied at each joint instead of conditions on norms of gain and parameter matrices as reported previously. This allows better performances than those obtained using tuning procedures previously reported in the literature.     

基于DSP的移动机器人驱动系统设计

设计了基于DSP的移动机器人驱动系统,该系统通过DSP发出PWM信号控制电机,并采用CPLD扩展DSP外部传感器接口。整个系统结构简单、可靠,为下一步关于移动机器人轨迹跟踪的算法研究提供实验支持。     

A New Difficulty Index for Teleoperated Robots Driving through Obstacles

Teleoperation allows humans to reach environments that would otherwise be too difficult or dangerous. The distance between the human operator and remote robot introduces a number of issues that can negatively impact system performance including degraded and delayed information exchange between the robot and human. Some operation scenarios and environments can tolerate these degraded conditions, while others cannot. However, little work has been done to investigate how factors such as communication delay, automation, and environment characteristics interact to affect teleoperation system performance. This paper presents results from a user study analyzing the effects of teleoperation factors including communication delay, autonomous assistance, and environment layout on user performance. A mobile robot driving task is considered in which subjects drive a robot to a goal location around obstacles as quickly (minimize time) and safely (avoid collisions) as possible. An environment difficulty index (ID) is defined in the paper and is shown to be able to predict the average time it takes for the human to drive the robot to a goal location with different obstacle configurations. The ID is also shown to predict the path chosen by the human better than travel time along that path.     

高性能无人驾驶压路机系统设计

本文首先论述了国家“863”智能机器人主体支持下的项目－“高性能无人驾驶压路机”系统的设计和实现，在此基础上，讨论了无人驾驶压路机中的串口通信。     

RoboCup机器人足球仿真比赛开发设计

机器人世界杯足球锦标赛(TheRobotWorldCup),简称RoboCup,通过提供一个标准任务来促进分布式人工智能、智能机器人技术及其相关领域的研究与发展。该文在介绍RoboCup仿真环境的基础上,系统完整地介绍了客户端程序的开发设计流程,阐述了其中涉及到的一些主要问题和算法,最后简要综述目前国际上的典型高层算法结构。     

PDC Control Design for Non-holonomic Wheeled Mobile Robots with Delayed Outputs

This paper presents a new technique for tracking-error model-based Parallel Distributed Compensation (PDC) control for non-holonomic vehicles where the outputs (measurements) of the system are delayed and the delay is constant. Briefly, this technique consists of rewriting the kinematic error model of the mobile robot tracking problem into a TS fuzzy representation and finding a stabilizing controller by solving LMI conditions for the tracking-error model. The state variables are estimated by nonlinear predictor observer where the outputs are delayed by a constant delay. To illustrate the efficiency of the proposed approach a comparison between the TS fuzzy observer and the nonlinear predictor observer is shown. For this study the reference trajectory is built by taking into account the acceleration limits of the mobile robot. All experiments are implemented on simulation and the real-time platform.     

Kinematic Design of Modular Reconfigurable In-Parallel Robots

This paper describes the kinematic design issues of a modular reconfigurable parallel robot. Two types of robot modules, the fixed-dimension joint modules and the variable dimension link modules that can be custom-designed rapidly, are used to facilitate the complex design effort. Module selection and robot configuration enumeration are discussed. The kinematic analysis of modular parallel robots is based on a local frame representation of the Product-Of-Exponentials (POE) formula. Forward displacement analysis algorithms and a workspace visualization scheme are presented for a class of three-legged modular parallel robots. Two three-legged reconfigurable parallel robot configurations are actually built according to the proposed design procedure.