空间柔性双臂机器人的神经网络协调控制

基于对机器人闭链系统运动特性的分析,采用假设模态法及拉格朗日方程建立了自由浮动空间柔性双臂机器人协调操作刚性负载闭链系统的动力学模型,然后采用基于小脑模型的模糊神经网络与非线性PD并行控制的方法对该动力学模型进行轨迹跟踪,并对内力采用积分控制;通过仿真实验比较,该方法比一般的非线性PD控制,在跟踪误差、抗干扰性、鲁棒性方面,都有很大的改善.     

基于对象阻抗控制的多机器人协调方法--模型、算法与实验

推广了单机械手的阻抗控制思想,基于被操作对象的目标阻抗关系,推导了面向对象的多手协调动力学模型和控制算法.该算法包含不同的抓持类型,考虑对象与环境的接触点信息,能够补偿整个系统的动力学特性,同时实现对象运动、外力和内力的控制;另外,该算法具有模块化结构,它的分层和并行实现缩短了双手的控制周期.在两台PUMA562机械手上的实验结果验证了算法的有效性.     

Optimal robot positioning using task-dependent and direction-selective performance indexes: General definitions and application to a parallel robot

Performance evaluation is an important issue for optimal robot positioning within workcells. Performance indexes can provide essential contributions to such an evaluation, in particular if they can account for the specific task with respect to which the optimization is carried out.     

基于遗传算法的机器人运动学逆解

在分析以往逆解方法的基础上，提出了用遗传算法求解机器人运动学逆解的方法，给出了用于优化求解的适合度函数，并提出用二次编码法提高解的精度．计算机模拟证明：该方法能快速收敛于全局最优解，能给出机器人的可能解，并能计算冗余度机器人的逆解．     

WIA-PA冗余簇首机制

针对WIA-PA星型网络中的簇首瓶颈问题,提出一种适用于WIA-PA网络的冗余簇首机制。规定冗余簇首具有最高优先级入簇,采用心跳信息、跳频技术等实现实时监测和信道的动态冗余,引入休眠机制,降低WIA-PA网络能量的消耗。通过马尔可夫模型进行可信性建模和分析,结果表明该机制具有可靠性。     

Nonlinear disturbance observers for robotic continuum manipulators

Robots are an indispensable part of modern production lines. Usually working in designated areas, they are separated from human workers in order to avoid collisions. A safe collaborative work environment is enabled by so-called soft robots, which constitute a human-friendly alternative to classical rigid industrial robots. However, modeling soft robots proves difficult and results in a lack of accuracy for control tasks. In this contribution, a disturbance observer-based control is proposed in order to improve tracking behavior. In doing so, unknown model errors are considered as disturbances and estimated by an observer. This estimate is used to actively reject the perturbation. Different disturbance observers are designed and implemented for a soft quasi-continuum manipulator, amongst them two nonlinear disturbance observers and two extended state observers. The distinction in the versions of the same observation concept lies in the disturbance dynamics assumption, which is either considered static or as a damped double integrator. All implemented concepts combined with a PD control show superior performance compared to an existing benchmark concept based on PID-like control. Thanks to the modularity of this approach, disturbance observers can be further investigated in combination with other control strategies.     

RFID系统数据处理方案研究

读写器与标签通信过程中产生大量冗余数据,将对RFID系统通信构成较大负荷,降低了系统效率。在此研究了一种可灵活配置的RFID系统数据处理方案,该方案基于嵌入式数据库技术,在读写器平台上根据不同的系统配置,实现了不同的数据处理过程。实测证明,采用该方案的RFID系统,输出的冗余数据明显减少,有效降低了系统的通信负荷,提升了读写器的智能性及系统效率,在实际工程应用中取得了良好效果。     

UPS双机并联冗佘系统故障处理一则

本结合河北移动通信有限责任公司所用UPS双机并联冗余系统出现不同步报警后的处理过程，主要介绍UPS并联系统故障分析判断的思路、操作处理的方法，以及应注意的事项，以供参考。     

基才隐马尔可夫模型的蛋白质序列筛选算法

对蛋白质序列筛选算法进行了研究,针对蛋白质数据库中存在大量的冗余序列,提出了一种基于隐马尔可夫模型的蛋白质序列筛选算法。详细阐述了在蛋白质数据库中如何建立隐马尔可夫模型。对模型中主要参数的求解和估计给出了主要计算公式。然后利用所建立的模型对蛋白质数据库进行的序列筛选测试,测试结果表明本文设计的算法对同源蛋白质序列筛选精...     

An admittance based hierarchical control framework for dual-arm cobots

Dual-arm robotic platforms have solid arguments to match the growing need for versatility in the industry. Coupling the control of two manipulators for cooperative purposes enlarges the scope of feasible operations, while adding perception capabilities allows to navigate in dynamic environments. In this respect, we propose a complete online kinematic control framework for dual-arm robots operating in unstructured industrial settings. We base our approach on admittance control in the cooperative task space. Regulating internal and external efforts offer safe bimanual task execution and enables physical interaction. We implement a hierarchical quadratic programming architecture that applies a prioritization of tasks: most efforts are concentrated on the proper tracking of relative motions of the arms, which is the most critical for safety reasons. We demonstrate the performance of our framework through a “teaching-by-demonstration” experiment on the dual-arm mobile cobot BAZAR.