基于ROS的蛇形机器人基本仿生运动与自主爬台阶控制

设计了一种带正交关节和主动轮组合的蛇形机器人。该机器人不仅能够实现基本的蜿蜒运动、纵向行波运动、横向翻滚运动和横向行波运动,且针对台阶式障碍物提出了一种自主爬越台阶的控制策略。机器人通过激光测距传感器与头部关节的仰角得到台阶高度,抬起相应高度的关节将头关节搭在台阶上,控制主动轮的推进速度与关节抬起的角速度相结合的方式达到上台阶的目的,并且在运动过程中将头部俯仰关节舵机的负载反馈作为判别下台阶的条件。基于ROS （robot operating system）构建了蛇形机器人仿真模型,并通过仿真与实验验证了机器人的基本运动控制和自主爬台阶控制策略的有效性。     

A cable feeder tool for robotized cable winding

Cable winding is an alternative technology to create stator windings in large electrical machines. Today such cable winding is performed manually, which is very repetitive, time-consuming and therefore also expensive. This paper presents the design, function and control system of a developed cable feeder tool for robotized stator cable winding. The presented tool was able to catch a cable inside a cable guiding system and to grab the cable between two wheels. One of these wheels was used to feed cable through the feeder. A control system was integrated in the tool to detect feeding slippage and to supervise the feeding force on the cable. Functions to calculate the cable feed length, to release the cable from the tool and for positional calibration of the stator to be wound were also integrated in the tool. In validating the function of the cable feeder tool, the stator of the linear generator used in the Wave Energy Converter generator developed at Uppsala University was used as an example. Through these experiments, it was shown that the developed robot tool design could be used to achieve automated robotized cable winding. These results also complied with the cycle time assumptions for automated cable winding from earlier research. Hence, it was theoretically indicated that the total winding cycle time for one Uppsala University Wave Energy Converter stator could be reduced from about 80 h for manual winding with four personnel to less than 20 h in a fully developed cable winding robot cell. The same robot tool and winding automation could also be used, with minor adjustments, for other stator designs.     

IVECO横梁焊接机器人轨迹规划及计算机仿真研究

机器人的轨迹规划可以在关节空间中进行 ,也可以在直角坐标空间中进行 .本文分析了这两种轨迹规划的特点 ,给出了基于关节空间的轨迹规划算法和基于直角坐标空间的轨迹规划算法 .针对 IVECO横梁的焊接 ,进行了机器人的轨迹规划研究 ,并进行了计算机仿真 ,该研究成果已应用于 IVECO横梁焊接工作站系统     

Differential geometry modeling and application of roller pose and trajectory of robot roller hemming for complex curved surface-curved edge panels

Roller hemming is a relatively new process used to achieve high-precision assembly of auto-body enclosure panels. During the process of roller hemming, accuracy of the roller pose and trajectory affects the hemming quality of the product. The traditional passive method based on robot teaching to determine the pose of the roller is inefficient and time-consuming. In these studies, we proposed an active method for solving roller pose and trajectory based on differential geometry for curved surface-curved edge geometric characteristics of auto-body enclosure panels and multi-pass reciprocating motions of the roller. Firstly, the local coordinate system of the die was constructed based on the Frenet Frame according to the normal vector of the surface of die and the tangent vector of the curved die edge. Secondly, the coordinate system of the die, diameter of the roller, TCP-RTP value, and inclination of the roller were combined to form the roller pose based on a homogeneous transformation matrix. Based on the obtained trajectory curve of the roller reference point, the equal chord deviation error method was used to analyze the roller trajectory. Finally, a roller pose and trajectory solving algorithm was developed based and implemented using PYTHON to obtain the positions and poses of the roller at several discrete reference points. ABAQUS software was subsequently utilized to complete modeling of the roller pose and trajectory. This research supports the multi-field mechanical simulation of robot roller hemming for curved surface-curved edge panels and provides support for determining roller pose and kinematic trajectory of industrial robot roller hemming for curved surface-curved edge panels.     

Augmented reality-based robot teleoperation system using RGB-D imaging and attitude teaching device

Augmented reality (AR)-based programming using the demonstration method has been widely studied. However, studies on AR-based programming for remote robots are lacking because of the limitation of human–computer interaction. This paper proposes an AR-based robot teleoperation system and method using RGB-D imaging and an attitude teaching device. By sending the color and depth images of the remote robot environment to the local side, the operators can complete the teleoperation of the robot at the local side. First, the operators select key positions on the motion path of the robot endpoint from color images via a mouse, and the computer calculates the 3D coordinates of these key points in the robot base coordinate system to complete the position teaching process. In the robot attitude teaching process, the AR technology is used to superimpose the virtual robot model onto the color images of the robot teleoperation environment, so as to make the virtual robot endpoint to move along the teaching path. An operator can use the portable attitude teaching device designed in this study to control the robot movement parameters, such as the attitude and motion speed, during the movement of the virtual robot. After the position and attitude teaching processes, the robot movement trajectory can be generated. To make the base coordinate system of the virtual model consistent with that of the physical robot, we propose an online AR registration method, which does not require manually placing the AR registration marker. The proposed AR-based robot teleoperation system can quickly and easily complete robot teleoperation at the local side.     

基于运动学分析的工业机器人轨迹精度测量的研究

机器人关节伺服系统的动态误差,是影响其末端执行器运动轨迹精度的一个重要因 素．本文以六轴关节型激光加工工业机器人为研究对象,采用D-H方法建立起机器人连杆坐 标系,在运动学分析的基础上,运用齐次坐标变换矩阵微分法,建立机器人各关节转角的偏 差值与末端运动轨迹精度之间的模型,并在此基础上,利用机器人与外部的串口通讯,对在 关节伺服系统影响下,沿各种空间位置运动时,机器人末端运动的轨迹精度进行了实际测量 ．     

Accuracy-speed relationships of a robotic filament winding cell

Filament winding is a process in which tensioned resio-impregnated continuous fibers are placed on specified paths of a rotating mandrel to cover the entire surface thus forming a composite component. Traditionally, filament winding is carried out on multi-saris numerically controlled lathe-like machines. This paper describes the evaluation of a robot based filament winding cell consisting of an industrial robot (ASEA IRB 6/2) and an in-house fabricated mandrel drive mechanism, both being coordinated by a personal computer. As in many manufacturing processes, tradeoffs exist between accuracy and speed. The accuracy vs speed relationships of the robotic winding cell were experimentally determined for discrete, fine and medium movement modes while traversing a segmented delivery eye path for a cylindrical mandrel in three configurations (in-line, offset and angled with respect to the axis of rotation). The results show that the robot winding cell is appropriate for very accurate winding of fiber strands if the mandrel axis is concentric with the mandrel drive axis and the discrete mode (i.e. low speed) of the robot is used. For high speed wet winding all three configurations can be accurately wound in the discrete and fine modes.     

基于强跟踪滤波的机器人运动轨迹控制系统设计

机器人运动信息采集的抗噪性较差,导致系统运动轨迹与实际轨迹不符,轨迹控制效果较差。因此提出基于强跟踪滤波的机器人运动轨迹控制系统设计。系统通过软硬件协同工作,实时控制机器人轨迹。采用IPM电机驱动控制系统硬件结构,根据指令和感知信息,采用多CPU结构控制方式,控制一个机器人关节运动。使用PCI9052接口控制PCI-485接口卡,实现了上下位机之间通讯。以TMS32OF240XDS为核心,设计DSP控制器,完全分离程序空间与数据空间。在软件设计方面,通过CAN-TTLG单片机光隔离超远程驱动器,使系统具有一定抗噪能力。构建机器人运动方程,引入强跟踪滤波弱化因子,计算运动轨迹偏差,并对机器人运动控制进行重力补偿,由此设计轨迹控制流程,完成机器人运动轨迹控制系统设计。实验结果表明,该系统运动轨迹与实际轨迹相符,且轨迹控制效率较好,具有良好控制效果。     

基于GA优化RBF神经网络的机器人轨迹规划

针对机器人在不确定环境下末端执行器运动轨迹的准确性及平稳性问题,采用基于遗传算法(GA)优化径向基函数(RBF)神经网络的轨迹规划方法对Kinova Mico2机器人进行轨迹规划研究。介绍了机器人的相关参数及坐标系、建立了D-H矩阵和运动学模型。提取机器人实际抓取物品的直线轨迹并等分插补,用GA优化并实时在线更新RBF神经网络的权值,以更优的权值参数建立新的RBF网络。研究结果表明:相比优化前,基于GA优化RBF的规划轨迹逼近误差小且平滑稳定,仿真结果较为稳定,轨迹规划的可行性满足机器人实际抓取工作的需要。     

Utilizing cable winding and industrial robots to facilitate the manufacturing of electric machines

Cable wound electric machines are used mainly for high voltage and direct-drive applications. They can be found in areas such as wind power, hydropower, wave power and high-voltage motors. Compared to conventional winding techniques, cable winding includes fewer manufacturing steps and is therefore likely to be better suited for automated production. Automation of the cable winding production step is a crucial task in order to lower the manufacturing costs of these machines. This article presents a production method using industrial robots for automation of cable winding of electric machine stators. The concept presented is validated through computer simulations and full-scale winding experiments, including a constructed robot-held cable feeder tool prototype. A cable wound linear stator section of an Uppsala University Wave Energy Converter and its winding process is used as a reference in this article. From this example, it is shown that considerable production cycle time and manufacturing cost savings can be anticipated compared to manual winding. The suggested automation method is very flexible. It can be used for the production of cable wound stators with different shapes and sizes, for different cable dimensions and with different winding patterns.     

Mobile robot navigation using the range-weighted Hough transform

Accurate navigation of a mobile robot in cluttered rooms using a range-measuring laser as a sensor has been achieved. To extract the directions and distances to the walls of the room the range-weighted Hough transform is used. The following experimental results are emphasized: The robot extracts the walls of the surrounding room from the range measurements. The distances between parallel walls are estimated with a standard deviation smaller than 1 cm. It is possible to navigate the robot along any preselected trajectory in the room. One special case is navigation through an open door detected by the laser. The accuracy of the passage is 1 cm at a speed of 0.5 m/s. The trajectory is perpendicular to the wall within 0.5 degrees in angle. When navigating through corridors, the accuracy is better than 1 cm at 0.8 m/s-the maximum speed of the robot. Odometric data and laser measurements are combined using the extended Kalman filter. The size of the cluttered rectangular room and the position and orientation (pose) of the robot are estimated during motion. The extraction and the resulting navigation are very robust against both spurious measurements in the laser measurements and disturbing objects     

基于MATLAB的双绕组异步电机仿真研究

建立了双绕组异步电机在静止二相坐标系中的数学模型，在此基础上推导了基于MATLAB中的ODE SOLVER工具的仿真模型，对其在逆变器(方波电压)驱动下的性能进行了仿真研究。仿真结果表明在方波电压驱动下双绕组异步电机比瞢通异步电机的性能优越，以及ODE SOLVER用于电机仿真的有效性。     

玻璃钢缠绕控制系统的设计

从玻璃钢缠绕原理出发，介绍了玻璃钢缠绕控制系统的设计，针对小车伺服系统提出了一种采用模糊PID控制的方法，仿真结果表明，采用这种控制器后，伺服系统的性能有显著提高。同时针对玻璃钢缠绕的特点，提出了一种自校正方法用于控制小车，结果显示该方法使得玻璃钢缠绕的工艺有很大的提高。     

基于PLC的绕组线圈真空干燥系统的设计

目前厂家对浸漆绕组线圈的干燥主要使用传统热风循环的方法,而且关于浸漆绕组线圈的干燥工艺研究尚不充分;针对传统绕组浸漆线圈干燥时间长,干燥所得线圈表面绝缘性能欠佳等问题,设计研发了一套自动化程度较高的绕组浸漆线圈真空干燥系统;该系统主要由真空单元、温度控制单元、电气控制单元、人机交互单元等部分组成;通过将浸漆线圈放置于真空环境中,对浸漆线圈进行通电的方式来加热干燥,以可编程逻辑控制器为核心,利用PLC的PWM输出功能控制加热,同时提出了浸漆线圈干燥的均匀设计实验方案,得出了最佳实验干燥工艺,最后通过对实验数据的回归分析得出了各实验指标之间的关系及显著性影响;实验结果表明:该系统不仅缩短了浸漆线圈的干燥时间,而且使浸漆线圈表面的绝缘性能有了明显的提高。     

Robotic sanding system for new designed furniture with free-formed surface

In this paper, a sanding system based on an industrial robot with a surface following controller is proposed for the sanding process of wooden materials constructing furniture. Handy air-driven tools can be easily attached to the tip of the robot arm via a compact force sensor. The robotic sanding system is called the 3D robot sander. The robot sander has two novel features. One is that the polishing force acting between the tool and wooden workpiece is delicately controlled to track a desired value, e.g., 2 kgf. The polishing force is defined as the resultant force of the contact force and kinetic friction force. The other is that no complicated teaching operation is required to obtain a desired trajectory of the tool. Cutter location (CL) data, which are tool paths generated by a CAD/CAM system, are directly used for the basic trajectory of the handy tool attached to the robot arm. The robot sander can be applied to the sanding task of free-formed curved surface with which conventional sanding machines have not been able to cope. The effectiveness and promise are shown and discussed through a few experiments.     

Development of a vision non-contact sensing system for telerobotic applications

The study presented here describes a novel vision-based motion detection system for telerobotic operations such as distant surgical procedures. The system uses a CCD camera and image processing to detect the motion of a master robot or operator. Colour tags are placed on the arm and head of a human operator to detect the up/down, right/left motion of the head as well as the right/left motion of the arm. The motion of the colour tags are used to actuate a slave robot or a remote system. The determination of the colour tags’ motion is achieved through image processing using eigenvectors and colour system morphology and the relative head, shoulder and wrist rotation angles through inverse dynamics and coordinate transformation. A program is used to transform this motion data into motor control commands and transmit them to a slave robot or remote system through wireless internet. The system performed well even in complex environments with errors that did not exceed 2?pixels with a response time of about 0.1?s. The results of the experiments are available at: http://www.youtube.com/watch?v=yFxLaVWE3f8 and http://www.youtube.com/watch?v=_nvRcOzlWHw     

基于预测控制的非连续路段下移动机器人的轨迹跟踪

针对非连续路段下的轨迹跟踪问题,设计了基于观测型的预测控制器。首先建立了移动机器人的运动学模型,根据机器人的运动学模型得出了其位姿误差微分方程;然后在轨迹跟踪问题的基础上,设计了系统的观测模型,通过将预测控制器与系统的观测模型结合,设计了观测型预测控制器;最后再MATLAB环境下,利用本文所设计的控制器对移动机器人在非连续路段下的轨迹跟踪问题进行仿真,并将仿真结果与PID控制器控制的仿真结果进行对比,由仿真结果可以看出,本文所设计的控制器具有很好的鲁棒性、快速性及稳定性,可适用于移动机器人的轨迹跟踪的研究。     

Control of a six‐axis pneumatic robot

The article presents a control system for a six‐degree of freedom (DOF) anthropomorphic robot powered entirely by pneumatic actuators. The control uses digital valves driven by pulse width modulation (PWM) to regulate air flow to the actuators. The robot is equipped with position sensors, which are used to provide feedback signals for local fuzzy controllers actuating the individual servoaxes. Trajectory tracking is guided by a module, which computes the robot's inverse kinematics, generating the references for the servoaxes. Experimental results illustrated in the article indicate that the controller is effective both in controlling single axes, and in tracking a trajectory. © 2002 Wiley Periodicals, Inc.     

非接触式机器人直线轨迹测量系统

视觉的、造价低廉实用的非接触式机器人直线轨迹测量系统．该测量系统由结构光视觉传感 器、测量轨道、主控计算机及相关软件组成．视觉传感器可固定于机器人末端．当机器人末 端带动视觉传感器沿测量轨道做直线运动时，通过传感器测量相对测量轨道的连续位姿关系 ，就可间接描述机器人末端的运动轨迹．当重复同一直线运动时，可检测出机器人的轨迹重 复性．本文综述了机器人直线轨迹测量设备的研究现状，介绍了轨迹检测系统的测量原 理，重点讨论了该测量系统的两个关键技术：空间特征点的图象提取技术和三维坐标计算方 法，并描述了该系统的结构、性能指标和测量试验结果．