Control using joint torque sensor of robot arm with two‐inertia resonance: Comparison with control using state‐estimation observer

Most industrial robots are driven through reduction gears such as Harmonic Drives and RV gears. Due to the flexibility of the drive system, vibratory behavior occurs during operation. When flexibility is considered, the drive system of the robot joint can be modeled as a resonant mechanical system called a two‐inertia system. Conventionally, studies of two‐inertia system have discussed semiclosed‐loop control using only motor information and a state observer. On the other hand, joint torque sensing of robots has been studied in the harmonic drives that are widely used in robot joints. The joint torque sensor is becoming available with higher performance. In this paper, we consider the control of a robot arm having two‐inertia resonance by using the joint torque sensor. The performance of the torque sensor and that of the observer are compared. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 156(2): 75–84, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20226     

Detection of abnormal movement of industrial robot based on eigenspace representation of image sequence

In this paper, a monitoring system for industrial robots working in factories is proposed. This system detects different movements based on learning and immediately reports to the operator. It has the advantage that there is no need to receive any signal from the robot controller because it only observes with a simple camera such as a CCD camera. For the detection method, the eigenspace method is used, which is excellent in compression of image data and calculations of the correlation among images. The parametric eigenspace method is also used to detect abnormalities such as the speed of movement. Some experiments using two‐axis robots show the effectiveness of the proposed method. © 2004 Wiley Periodicals, Inc. Electr Eng Jpn, 148(4): 74–83, 2004; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10352     

基于阵列式发射模组的群体机器人动态无线供电路径规划研究

群体机器人可依靠群智能有效分工协作完成复杂和大规模任务,在物流、制造、交通和军事等领域有极大的应用价值。然而,目前已有电能补给方式均无法满足其持续不间断充电的需求,导致强大的协同工作能力得不到充分发挥。为此,本文提出一种基于阵列式发射模组的群体机器人动态无线充电方式,可为群体机器人工作过程中实时供给电能。首先,分析了机器人动态无线充电过程中效率和功率的波动特性。其次,以充电效率最优为目标,提出一种带有惩罚机制改进的蚁群算法以及协同工作模式,并应用于群体机器人协同动态无线充电系统。最后,进行仿真实验,验证了本文提出的方法可实现群体机器人在动态无线充电过程中稳定可靠协同工作。本文的研究对群体智能的研究具有极大的促进作用。     

电力系统中机器人的研究现状与展望

研究了机器人技术在电力系统领域的典型应用,包括核电站与变电站巡检机器人、架空线巡检机器人及电缆管道机器人等;介绍了各类电力系统机器人的技术实现方法及其存在的问题,指出了电力系统中机器人的发展方向。     

Development of an Autonomous Mobile Robot with Several Sensors using Neuro‐Fuzzy Control Based on Server/Client Model

The purpose of this paper is to detail the development of an autonomous mobile robot and a control support system. The robot has five infrared sensors and three ultrasonic sensors to enable it to follow a ‘ guide person’ with an infrared ray transmitter. The robot will follow the infrared rays emitted by a transmitter with the guide person, and move to the destination. The control system has been developed by the network technology based on server/client model. The advanced control strategy for the autonomous mobile robot is carried out with a high‐speed host server computer connected through the TCP/IP network. Therefore, it is enough for the CPU of the robot to be of low speed. In this paper, the autonomous mobile robot system and the control system using the server/client model are described. Copyright © 2008 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Development of education support system for numerical electromagnetic analysis based on server–client model using Java

Among several numerical methods, the Finite Element Method (FEM) has been adopted in various engineering problems. Given this situation, it is necessary to instruct university students in numerical analysis. The authors have designed and implemented a numerical analysis education support system for learning electromagnetic fields with a Graphical User Interface (GUI) based on the client–server model using Java. In this paper, a feasibility study on the student laboratory class in the third year is described. © 2008 Wiley Periodicals, Inc. Electr Eng Jpn, 163(4): 8–17, 2008; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20377     

基于CAN总线的轮腿式机器人的分布式控制系统设计

在轮腿式机器人系统平台基础上,设计了一种基于CAN总线的机器人分布式控制系统。文章详细介绍了主控制器和伺服从控制器的软硬件设计,并对试验样机进行了测试。试验表明,控制器具有较高伺服性能,系统实时性较强,能达到机器人的动作要求。     

Position and altitude tracking control for toe support phase of biped walking robot

No paper has been published on the active use of the foot toe of biped walking robots. In other words, the sole of the supporting leg is usually assumed to completely contact the ground. To maintain this condition, the robot walking has a restriction such as the maximum walking speed limitation. If the point contact of the toe to the ground through walking is available, a variety of walking can be realized. In this paper, a new control method for biped robots, in which the contact of the sole to the ground becomes a point contact, is proposed. The COM (Center of Mass) and swing leg can track the desired path and each heel joint angle can be controlled by the proposed controller while a biped walking robot is following a forward falling. Therefore, the motion of the body does not need to be limited to quiet motion. The proposed method is verified by simulation and experimental results with “Ken,” a six‐joint DOF biped robot. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 157(1): 72–79, 2006; Published online in Wiley InterScience ( http://www.interscience.wiley.com ). DOI 10.1002/eej.20094     

Electroencephalogram‐based control of a mobile robot

This paper presents electroencephalogram‐based control of a mobile robot. The purpose of control is to achieve direction control of a mobile robot only by electroencephalogram. We develop an algorithm for directing direction thinking (“going left” or “going right”) and apply it to direction control of a mobile robot. The algorithm is based on time–frequency domain analysis using continuous wavelet transformation. Our experimental results demonstrate the possibility of achieving direction control of a mobile robot only by electroencephalogram. © 2005 Wiley Periodicals, Inc. Electr Eng Jpn, 152(3): 39–46, 2005; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20109     

500kV四分裂输电线路防震锤检修机器人机型设计与优化

高压电力线缆是电能传输的重要通道,多分裂输电导线是电力传输的主力,而防震锤是四分裂输电导线上的重要金具,由于恶劣的服役环境,经常会出现防震锤钢绞线变形、锤头及螺栓丢失等故障发生,严重影响输电线路的正常运行。国内外研究表明利用机器人代替人工进行输电线路检修作业是一种行之有效的手段,基于此,面向四分裂超高压导线防震锤检修作业,提出了相应的防震锤检修机器人基本构型和检修作业运动规划,建立了机器人的三维实体模型,为精简机器人连杆结构和关节参数,剔除机器人冗余机构,基于机器人运动学模型,利用蒙特卡洛法对末端作业空间进行了仿真分析,通过点云图和末端可达空间分析,机器人的连杆长度存在一定冗余,通过缩短机器人的连杆参数,优化精简机器人的结构,一定程度上可以节省机器人开发成本。最后,开发了结构紧凑型机器人虚拟样机,并提出了泛在电力物联网背景下的电力机器人新型控制体系架构,为电力系统运维管理一体化技术奠定了坚实的理论基础。     

Basic concept and decentralized autonomous control of super‐distributed energy systems

New small‐scale dispersed generation systems, such as fuel cells and micro gas turbines, have made remarkable advances lately and they will be applied practically in the near future. Although a large number of researches on the introduction of small‐scale dispersed generation systems have been carried out, only a small number of small‐scale dispersed generation systems are considered in these researches. Therefore, little is known about problems to be solved when a large number of small‐scale dispersed generation systems are introduced into electric power systems. This paper deals with a super‐distributed energy system that consists of a great number of dispersed generation systems such as fuel cells, micro gas turbines, and so on. The behavior of a customer with a dispersed generation system is simulated as the Ising model in statistical mechanics. The necessity of a distribution network in super‐distributed energy systems is discussed based on the Ising model. The feasibility of decentralized autonomous control using vicinity information is also investigated on the basis of stability analysis of the Hopfield neural network model. © 2005 Wiley Periodicals, Inc. Electr Eng Jpn, 151(1): 43–55, 2005; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10368     

Tracking control for industrial robot using notch filtering system with little phase error

This paper proposes a new method for generation of a position reference that has both vibration suppression performance and fast tracking performance for industrial robots. It is important for industrial robots to drive at high speed and with high accuracy. In such cases, vibration is generated. Conventionally, the notch filter is used in order to reduce vibration. It is able to eliminate the natural frequency component, but a reference phase error is generated. The reference phase error causes locus error in the robot. Therefore, the accuracy of the robot is degraded by using a notch filter. The proposed method overcomes this problem by using the compensation gain. The proposed compensation gain is used in order to calculate the reference phase error. Compensation of the reference phase error is attained by feedforward input. Numerical and the experimental results confirm that the proposed method is valid for reducing vibration phenomena and that it decreases the phase error. © 2011 Wiley Periodicals, Inc. Electr Eng Jpn, 175(1): 53–63, 2011; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.20931     

Functionalization of tactile sensation for robot based on haptograph and model decomposition

In the real world, robots should be able to recognize the environment in order to be of help to humans. A video camera and a laser range finder are devices that can help robots recognize the environment. However, these devices cannot obtain tactile information from environments. Future human‐assisting robots should have the ability to recognize haptic signals, and a disturbance observer can possibly be used to provide the robot with this ability. In this study, a disturbance observer is employed in a mobile robot to functionalize the tactile sensation. This paper proposes a method that involves the use of the haptograph and modal decomposition for the haptic recognition of road environments. The haptograph presents a graphic view of the tactile information. It is possible to classify road conditions intuitively. The robot controller is designed by considering the decoupled modal coordinate system, which consists of translational and rotational modes. Modal decomposition is performed by using a quarry matrix. Once the robot is provided with the ability to recognize tactile sensations, its usefulness to humans will increase. © 2011 Wiley Periodicals, Inc. Electr Eng Jpn, 177(2): 49–57, 2011; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.21169     

多机器人的积分滑模编队控制

以一组非完整约束两轮机器人为研究对象,提出了具有非匹配不确定性的移动机器人系统的积分滑模编队控制。在单个机器人运动学模型的基础上,考虑机器人自身参数变化、打滑和侧移等不确定性的影响,采用领航-跟随机制,建立了编队系统的动力学模型。该动力学模型含有非匹配不确定性,无法应用积分滑模控制的不变性抑制。在合理的假设下,从理论上证明了具有非匹配不确定的编队系统在滑模阶段具有局部渐近稳定性;证明了提出的积分滑模编队控制律能够保证滑模的可达性条件。最后以三个机器人组成仿真实验平台,验证了在非匹配不确定性的了积分滑模编队控制方法的有效性及可行性。     

Target recognition of indoor trolley for humanoid robot based on piecewise fitting method

Although several studies have considered the problem of humanoid robots pushing carts, only a few have focused on the problem of robots moving heavy objects under monocular vision. This study proposes a target recognition and positioning method and a control method for a robot pushing a loaded trolley. A control system based on the humanoid robot NAO is developed and a monocular visual ranging method with segmented fitting is proposed to realize hardware control and target search and positioning for NAO. The ability of NAO to push a small cart with various weights using visual positioning is tested. The experimental results show that the average error of the monocular distance measurement method is 1.7 mm and that the target search and positioning is accurate. NAO can push a loaded cart that is 6.5 times its own weight.     

六自由度工业机器人动力学分析与仿真

以六自由度工业机器人为研究对象,运用牛顿-欧拉递推算法对机器人进行了动力学分析,建立了逆动力学方程,并采用ADAMS软件建立了机器人的动力学仿真模型,对理论计算进行验证的同时,为后续机器人动态特性及控制的研究打下基础。     

基于SR-CKF的移动机器人动态目标跟踪算法

针对移动机器人在未知复杂环境中动态目标跟踪存在的数值不稳定、计算量大和精度较差等问题,提出基于平方根容积卡尔曼滤波的移动机器人动态目标跟踪算法(SR-CKF-SLAM-OT)。该算法的系统状态由地图环境特征、机器人和目标作为一个整体构成。建立目标和机器人的动态模型进行预测、数据关联和更新,在更新过程中直接传递目标状态均值和协方差矩阵的平方根因子,降低了计算的复杂度。此外,通过数据关联环节能够有效的降低伪观测值对系统状态估计的影响。仿真结果表明:相比基于EKF的动态目标跟踪算法,所提出的动态目标跟踪算法目标和机器人均方根误差分别降低了36.3%和38.2%,SR-CKF-SLAM-OT算法有效地满足了移动机器人动态目标跟踪的需求。     

Integrated reproduction of human motion components by motion copying system

Currently, the development of leading‐edge technology for recording and loading human motion on the basis of haptic information is required in the fields of manufacturing and human support. Human movement is an assembly of motion components. Since human movements should be supported by a robot in real time, it is necessary to integrate the motion components that were saved earlier. Once such motion integration is realized, future technology for use in daily human life can be developed. This paper proposes the integrated reproduction of the decomposed components of human motion by using a motion copying system. This system is the key technology for the realization of the acquisition, saving, and reproduction of real‐world haptic information. By using the proposed method, it is possible not only to achieve expert skill acquisition, skill transfer to robots, and power assist for each motion component, but also to open up new areas of applications. © 2012 Wiley Periodicals, Inc. Electr Eng Jpn, 181(1): 28–35, 2012; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.21263     

基于Kinect的六轴工业机器人异常姿态检测方法

工业机器人异常姿态检测是保障工业机器人安全作业的重要手段。针对已有方法存在检测准确率低和时效性不足的问题,提出了一种基于Kinect相机的六轴工业机器人异常姿态检测方法。该方法使用Kinect相机采集工业机器人彩色图像和深度图像,通过YOLOF目标检测算法得到彩色图像中工业机器人关节轴的信息,结合深度图像转换为对应三维坐标,参考工业机器人结构特性,构造机器人关节向量,提取角度特征,进行工业机器人姿态特征表示,基于欧式距离和余弦相似度进行姿态匹配,检测工业机器人异常姿态。本文的方法结合了工业机器人关节轴三维信息可对姿态进行更加精确的匹配。构建了六轴工业机器人作业视频数据集并进行了异常姿态检测。实验结果表明,本文的工业机器人异常姿态检测方法准确率为96.6%,单帧图像检测时间为43 ms,满足机器人安全监控实际应用需求。     

A method for haptic motion abstraction and display based on action force directionality

Robots working in an unknown environment or a human environment have been investigated for years in the field of motion control. For the next‐generation robots, human and robot interaction technologies are needed. In particular, abstractions of human motion and motion display technologies are important. This paper proposes a method for haptic motion abstraction based on action force directionality. The action force is measured by using a master–slave robot hand system which is bilaterally controlled. Human motion is abstracted as action modes and action ratios, which are calculated from the action force directionality. Action modes express action force directionality, and action ratios express the amplitude of each action mode. Action modes are valid for motion preservation, identification of humans, and motion display systems. Thus, as one of the application of action modes, a method for motion display is also proposed. A motion display control system is designed based on action modes and action ratios. This control system presents the desired action force directionality as a velocity response depending on the human action force. The validity of the proposed method is shown by the experimental results. © 2011 Wiley Periodicals, Inc. Electr Eng Jpn, 176(2): 62–70, 2011; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.21126