关键词： 管道机器人   主动避障   动力学   仿真   ADAMS  

摘要： 为了解决轮式管道机器人在管道内越障能力不足的问题,设计一种主动避障管道机器人,并运用ADAMS进行动力学仿真分析。首先分析了管道机器人结构原理和运动特性。随后运用ADAMS建立虚拟样机,对管道机器人的避障能力、直行能力以及过弯能力进行仿真分析。仿真结果表明,该管道机器人可自动适应148~152 mm管径;可通过的最小转弯半径为304 mm;可实现在管道内部主动避障,同时具有良好的动力特性。

关键词： 主动柔顺控制   机器人动力学   关节转矩控制   转矩观测器   电机转矩模型   碰撞保护  

摘要： 针对机器人系统对柔顺性、安全性的要求,提出了一种基于电机电流的机器人主动柔顺控制方法,并采用硅片传输机器人进行拖曳式示教和碰撞保护实验。首先通过磁场定向控制(field oriented control,FOC)将永磁同步电机的转矩模型化为较为简单的形式,同时机器人的动力学模型也可根据硅片传输机器人特殊的构型及关节耦合关系而大大简化。然后将永磁同步电机的转矩模型与机器人动力学模型结合,设计扰动观测器,进行基于电流模型的转矩检测。最后将转矩观测器与力/位混合控制结构结合,实现基于电机电流的机器人主动柔顺控制,并在硅片传输机器人进行实验,实际运行结果验证了该方法的有效性。与传统机器人主动柔顺控制方法相比,该方法不需要额外的传感器,成本低廉,不降低机器人自身刚性,具有广泛的适用性。

关键词： 动力学模型   导纳控制   柔顺控制   牛顿-欧拉法   粒子群算法  

摘要： 提出了一种基于动力学模型的导纳控制算法,用来实现机器人末端力和位置的柔顺控制,可以在速度模式下控制机器人运动,以保证无外力接触时的轨迹跟踪精度.首先,根据牛顿-欧拉法建立机器人动力学模型;然后,通过粒子群算法辨识动力学模型参数,得到完整的动力学模型;在此基础上,计算机器人末端位置误差和外力,利用设计的导纳控制器实现机器人的柔顺控制,用Matlab的Simulink仿真模块验证了基于动力学模型导纳控制的有效性和可靠性.仿真结果表明:机器人末端没有与环境接触时,具有较高的跟踪精度;与环境接触时,机器人末端会产生位置误差和外力,从而实现机器人的柔顺控制.

关键词： Null space   Convex optimization   Compatible impedance control   Wheel contact model  

摘要： This paper develops a compact form dynamics controller to generate multi-compliant behaviors for a new designed tetrapod-on-wheel robot with one manipulator. The whole-body compliant torque controller is stated through one null-space-based convex optimization and compatible null-space-based impedance controllers. Different from fixed contact points of conventional quadruped robots, the kinematic wheel contact constraints are derived for our legged-on-wheel robot, which serves as the basis for each task reference extraction and each compliance controller. The compact relationships between task references and optimization control variables are extracted using null-space-based inverse dynamics, which is used to build the cost function in the operational space and/or in the joint space. The whole-body control frame is developed and several null-space-based feed-back impedance controllers are integrated into the compact relationships to allow the robot to achieve compliance and compensate the model impreciseness, especially the wheel contact model. Then the detailed algorithm is presented whose output combines the feed-forward and feedback torque. The validation of our approach is performed via advanced numerical simulations for a virtual legged-on-wheel robot with one manipulator.

关键词： Robotics   Social robots   Artificial intelligence   Brain-machine interface   Industrial robots   Mobile robots  

摘要： According to the progress and applications of robots, we can categorize them into three different generations: industrial robots, autonomous mobile robots, and social robots. At the first section, the significant characteristics, structures, and control methods of industrial robots have been introduced. In the next, autonomous mobile robots, their mobile attributes and the typical navigation methods have been briefly presented. Following that part, we investigate social robots as the third generation of robots. The applications of social robots and their promotion process is also a subject of our study. Finally, try to envisage future trends in the field robotics.

关键词： Robotics   Sensors   Localization   Mobile robots   Robot design   Construction industry  

摘要： Purpose The purpose of this paper is to provide a "Q&A interview" conducted by Joanne Pransky ofIndustrial Robot Journalas a method to impart the combined technological, business and personal experience of a prominent, robotic industry PhD-turned successful business leader, regarding the commercialization and challenges of bringing technological inventions to market. The paper aims to discuss these issues. Design/methodology/approach The interviewee is Dr Tessa Lau, an experienced entrepreneur with expertise in AI, machine learning, and robotics, who thrives on the challenges of creating startups. She is currently Founder/CEO at Dusty Robotics, whose mission is to address construction industry productivity by introducing robotic automation on the jobsite. In this interview, Lau discusses her technical and business insights from the startups she built. Findings Dr Lau received her BA and BS from Cornell University in computer science and applied & engineering physics;and an MS and PhD degree in computer science from University of Washington. Prior to co-founding Dusty in April 2018, she was CTO/co-founder at Savioke, where she orchestrated the deployment of 75+ delivery robots into hotels and high-rises. Previously, Lau was a research scientist at Willow Garage, where she developed simple interfaces for personal robots. She also spent 11 years at IBM Research working in business process automation and knowledge capture. Originality/value Dr Lau, known as the Chief Robot Whisperer, is a robot industry disruptor who is passionate about pioneering technology that gives people super-powers. Lau has built two businesses, large, successful venture capital-funded companies. Lau was named 2017 Woman of Influence byThe Silicon Valley Business Journaland one of the most creative business people by Fast Company in 2015. Over the years, Lau has served on program committees for various major HCI and AI conferences and on the board for the CRA-W - the committee for the status of w

关键词： scene representation   autonomous exploration   next best view   ROS  

摘要： Carrying out the task of the exploration of a scene by an autonomous robot entails a set of complex skills, such as the ability to create and update a representation of the scene, the knowledge of the regions of the scene which are yet unexplored, the ability to estimate the most efficient point of view from the perspective of an explorer agent and, finally, the ability to physically move the system to the selected Next Best View (NBV). This paper proposes an autonomous exploration system that makes use of a dual OcTree representation to encode the regions in the scene which are occupied, free, and unknown. The NBV is estimated through a discrete approach that samples and evaluates a set of view hypotheses that are created by a conditioned random process which ensures that the views have some chance of adding novel information to the scene. The algorithm uses ray-casting defined according to the characteristics of the RGB-D sensor, and a mechanism that sorts the voxels to be tested in a way that considerably speeds up the assessment. The sampled view that is estimated to provide the largest amount of novel information is selected, and the system moves to that location, where a new exploration step begins. The exploration session is terminated when there are no more unknown regions in the scene or when those that exist cannot be observed by the system. The experimental setup consisted of a robotic manipulator with an RGB-D sensor assembled on its end-effector, all managed by a Robot Operating System (ROS) based architecture. The manipulator provides movement, while the sensor collects information about the scene. Experimental results span over three test scenarios designed to evaluate the performance of the proposed system. In particular, the exploration performance of the proposed system is compared against that of human subjects. Results show that the proposed approach is able to carry out the exploration of a scene, even when it starts from scratch, building up kn

关键词： Collaborative robots   System identification   Flexible-joint robot manipulators   Strain-wave transmissions   Friction  

摘要： For collaborative robots, the ability to accurately predict the actuator torques required to realize the desired task is highly important. This will improve and guarantee the safety, motion and force control performance, and smooth lead-through programming experience. Thus, this paper presents the investigation towards comprehensive modeling and identification of nonlinear joint dynamics for collaborative robots. The proposed joint dynamics model and identification describes the most dominant dynamic characteristics of robot joints that comprise strain-wave transmissions, such as nonlinear friction, nonlinear stiffness, hysteresis, and kinematic error. Position-dependent backlash characteristics is observed and quantified using our proposed identification method and the Generalized Maxwell-Slip friction model is extended to describe the observed phenomena. The developed dynamic modeling and identification procedures provides insightful guidance for the design and model-based control of collaborative robots.