纤维缠绕机的计算机控制系统设计

从纤维缠绕机的结构和工作原理出发,介绍了纤维缠绕机的控制系统。提出了以计算机为核心的控制系统的硬件组成,并给出了控制程序的设计与运行结果。该控制系统使得缠绕机缠绕工艺有很大的提高。     

微机机器人仿真系统PCROBSM

微机机器人仿真系统（ＰＣＲＯＢＳＭ）是一个适用于ＩＢＭ－ＰＣ及其兼容机的机器人仿真系统，该系统功能齐全，可以对机器人的运动学，轨迹规划，动力学，控制算法，力传感器和典型任务等进行仿真，它的主要特色在于具有丰富的机器人控制算法和轨迹规划算法，系统具有良好的用户界面，为用户设计，验证自己的轨迹规划和控制算法提供了方便的环境，如系统提供了机器人语言ＳＶＡＬ，三维示教和三维图显功能，同时为了更接近实用，系     

多机器人协调操作大型物体的运动学分析及应用

本文研究多机器人协调系统在大型圆筒型工件加工中的应用,提出了基于多个3自由度移动机器人协调操作工件进行空间6自由度位姿调整系统的结构和协调方法．在刚体小位移运动模型基础上,建立了系统的运动模型以及逆运动学算法,并给出了满足实时运动规划的简化算法．最后,通过实例对该算法进行了说明．     

Investigating Dynamic Interaction between the One D.O.F. Manipulator and Vehicle of a Mobile Manipulator

A manipulator mounted on a moving vehicle is called a mobile manipulator. A mobile manipulator with an appropriate suspension system can pass over uneven surfaces, thus having an infinite workspace. If the manipulator could operate while the vehicle is traveling, the efficiency concerning with the time and energy used for stopping and starting will be increased.This paper presents the kinematic and dynamic modeling of a one degree of freedom manipulator attached to a vehicle with a two degrees of freedom suspension system. The vehicle is considered to move with a constant linear speed over an uneven surface while the end effector tracks a desired trajectory in a fixed reference frame. In addition, the effects of dynamic interaction between the manipulator and vehicle (including the suspension system"s effects) have been studied. Simulation results from straight line trajectory are presented to illustrate these effects.     

Consensus Based Formation Control and Trajectory Tracing of Multi-Agent Robot Systems

Multi-Agent Robot Systems (MARS) are, nowadays, an important research area within robotics and Artificial Intelligence. A growing number of systems have been presented in the literature recently. This paper develops a general method of controller design for formation keeping and motion trajectory tracing of the MARS. A novel motion model about the motion trajectory tracing and group formation control of MARS for fixed and changing interaction is presented. Based on this model and the consensus theory, two theorems about the condition of mobile stability properties of the system are analyzed and proved. Finally, the validity of this scheme is supported by computer simulation. Supported by the National Natural Science Foundation of China under Grants 60573005 and 60603006.     

机器人多指操作的递阶控制

为机器人多指协调操作建立一递阶控制系统.给定一操作任务,任务规划器首先生成一系列物体的运动速度;然后,协调运动规划器根据期望的物体运动速度生成期望的手指运动速度和期望的抓取姿态变化;同时,抓取力规划器为平衡作用在物体上的外力,根据当前的抓取姿态,生成各手指所需的抓取力;最后,系统将手指的期望运动速度与为实现期望抓取力而生成的顺应速度合并,并通过手指的逆雅可比转化为手指关节运动速度后,由手指的关节级运动控制器实现手指的运动和抓取力的控制.该控制方法已成功应用于香港科技大学(HKUST)灵巧手控制系统的开发.实验证明该方法不仅能完成物体轨迹的跟踪控制任务,而且能完成物体对环境的力控制和力与速度的混合控制.     

基于转向机构的“穿地龙”机器人运动学研究

介绍了国外有代表性的可控气动矛设备方向可控的特点．按照“穿地龙”机器人的转向机理,提出了“穿地龙”机器人的转向机构方案．叙述了该机构中头部的摆动原理,建立了“穿地龙”机器人的运动轨迹方程,并进行了仿真分析,为“穿地龙”机器人的动力学分析以及位姿检测系统的研究打下了基础．     

A novel trajectory planning-based adaptive control method for 3-D overhead cranes

A three-dimensional (3-D) overhead crane is a complicated nonlinear underactuated mechanical system, for which high-speed positioning and anti-sway control are the kernel objective. Existing trajectory-based methods for 3-D overhead cranes focus on combining efficient and smooth trajectories with anti-sway tracking controllers without regard for payload motion; moreover, the exact value of plant parameters is required for accurate compensation during the control process. Motivated by these facts, we present a two-step design tracking strategy which consists of a trajectory planning stage and an adaptive tracking control design stage for 3-D overhead cranes. As shown by Lyapunov techniques and Barbalat's Lemma, the proposed controller guarantees asymptotic swing elimination and trolley positioning result in the presence of system uncertainties including unknown parameters and external disturbances. Simulation results also showed the applicability of the proposed method with good robustness against parameter uncertainties and external disturbances.     

基于神经动力学优化的无人系统研究综述

随着无人系统技术的快速发展, 其在高精度、高风险及复杂环境任务中的应用日益广泛. 然而, 无人系统在实际应用中面临诸多优化挑战, 如轨迹规划与跟踪、编队控制、决策与任务分配以及控制优化等. 传统优化方法在处理这些复杂问题时往往力不从心. 鉴于此, 首先基于神经动力学优化的无人系统若干问题研究现状, 重点介绍几类神经动力学优化方法, 探讨其在无人系统优化问题中的独特优势; 然后详细分析无人系统中几类关键优化问题的数学特性与难点, 并总结神经动力学优化方法在这些问题中的具体应用与成效; 最后展望神经动力学优化方法在无人系统领域未来的发展方向, 强调其在提高无人系统性能、安全性和智能化水平方面的重要作用.     

基于冲突避免的无人船编队队形重构规划算法

针对无人船(USV)编队中忽视任务点分配导致的点冲突和未充分考虑欠驱动运动学模型导致的边冲突问题,深入分析并形式化地建模队形重构问题,提出了创新的解决方案。对于点冲突,设计了队形解算规则,并结合任务分配算法,规划出无冲突的目标点集合。面对传统轨迹规划算法规划出的分段线性路径无法被欠驱动无人船顺利执行所产生的边冲突问题,引入了实际船舶模型的约束和最小轨迹单元的概念。与其他研究中的算法进行比较,并在仿真环境及实际场景中进行验证,对冲突性进行细致分析。实验结果显示,在非复杂水域环境下,所提算法相比基准算法展现出明显的优势,并且在实际操作过程中未发生任何冲突。这些结果有效地证明了所提算法的高效性和可靠性。     

关节型机器人运动学仿真及控制系统设计

关节型机器人各运动关节动态特性和控制系统的稳定性直接影响机器人以及轨迹规划的可达性.以IRB140关节型机器人为研究对象,依据标准D-H参数法和空间位姿变换理论推导出机器人正向运动学数学模型,并采用机器人逆运动学和改进后的五次多项式插值算法实现了机器人在关节空间下进行轨迹规划时各运动关节速度和加速度过渡平滑的目的.最后...     

Climbing Robots’ Mobility for Inspection and Maintenance of 3D Complex Environments

For complex climbing robots, which work in difficult 3D outdoor environments, the gravity force has an important influence with respect the robots changes during its motion. This type of climbing robots is self-supported in the complex 3D structures (bridges, skeleton of the buildings, etc.) which require periodic, manually performed inspections and maintenance. The use of non-conventional climbing robots for this type of operation is highly appropriate. Their locomotion system commonly comprises arms/legs that permit the robots 3D mobility (gait). These mechanisms also enable the robot to support itself and guarantee its stability. This paper presents the main features of non-conventional climbing robots mobility on complex 3D environments: power supply, number of DOFs, lightweight structure, gait, speed, secure grasp, etc. It also covers the general theory underlying the design of climbing robots, their kinematics, with its specific, unconventional mobility. The paper not only describes the climbing robot mobility theory but also provides several examples taken from the ROMA and MATS robots families. The developed robots have high degree of autonomy with totally on-board control system. These autonomous robots demonstrate in the course of real experimentation that the criteria for design, control strategy and path planning are accurate. Finally, the paper examines trends in climbing robot technology.Carlos Balaguer received his Ph.D. in Automation from the Polytechnic University of Madrid (UPM), Spain in 1983. From 1983–1994 he was with the Department of Systems Engineering and Automation of the UPM as Associated Professor. Since 1994, he has been a Full Professor of the Robotics Lab at the University Carlos III of Madrid. Prof. Balaguers research has included robot design and development, robot control, path & task planning, force-torque control, assistive and service robots, climbing robots, legged and humanoid robots, and human-robot interaction. He has published more than 120 papers in journals and conference proceedings, and several books in the field of robotics. He is a member of IEEE and IFAC, and former President of IAARC.Antonio Gimenez studied Electrical Engineering at the Polytechnic University of Madrid and received his PhD from the University Carlos III of Madrid in 2000. Currently he is Associated Professor at the Robotics Lab atthe University Carlos III of Madrid. He participated in numerous national and international R&D projects in robotics and automation. His research interest includes design and robot development, rehabilitation robots, climbing robots, and automation in construction. Recently he is very active in the field of computer-aided mechatronics design. He has published numerous refereed publications in international journals, and conference proceedings.Alberto Jardón Huete is currently finishing his Ph.D. degree in Automation Engineering. He received his B.Sc. in electronics engineering (1998) and is graduated in Electrical Engineering (2002) at University Carlos III of Madrid. He is an active member of the Robotics Lab since 1997, and has collaborated in the development of the climbing robots ROMA I, ROMA II, and other research projects of relevance. Currently he is focused in the design and development of light weight service robots. His interests include assistive robotic design, mechatronics, robotic research, the development of tools to perform this research and the transfer of robotics technology to industry.     

Motor control characteristics for circular tracking movements of human wrist

Abstract

This paper investigates motor characteristics during circular tracking movements of human wrist. Ten subjects performed a visually guided target tracking task using two degrees-of-freedom wrist movements as a tracer. Based on trajectories of the tracer and the target, three control parameters in polar coordinates were considered: R error as an evaluation of the circular movement performance, theta error of the position-control precision, and omega error of the velocity-control precision. We then examined the influence of three different speeds (0.05, 0.1, and 0.2 Hz) and visibility of the target on the three parameters to observe changes in control strategy. The theta error particularly demonstrated that subjects were more dependent on position control for the lower tracking speed of 0.05 Hz with a visible target, where the highest percentage increase of 210.6% in theta errors from the target visible to the target invisible regions was reported. However, as the target speed increases, the subjects concentrated more on the velocity of the target as a main control parameter, and a minimum percentage decrease of 9.52% in the omega error appeared from target visible to target invisible regions for 0.2 Hz. The results suggest that velocity control is more dominant during target invisible or fast tracking task.     

Dynamic hierarchical control for distributed problem solving

Distributed problem solving (DPS) has become one of the central topics in AI. Much research has been concerned with finding an appropriate distributed control regime. We propose the concept of dynamic, hierarchical control (DHC) for distributed problem solving.

In many domains, DPS has a natural hierarchy or a subproblem hierarchy can be imposed by utilizing appropriate decomposition techniques. DHC aims at exploiting the power inherent in the hierarchical approach. It also enables the control of the problem solving process to fit the structure of a domain. This results in well-coordinated cooperation and coherent negotiation among distributed controllers.

We have used the DHC to perform plant combine production planning (PCPP). This task involves the activity of a network of production units, each with possibly different characteristics, collaborating to produce various items under dynamically changing conditions. We also describe the general structure of a single controller which adopts a blackboard and a knowledge source (KS) scheduling mechanism to carry out dynamic process execution.

The paper describes the results of our first solution to this problem. Finally, we discuss on-going research that aims at handling additional problems.