关键词： educational robot   dynamic model   sparse matrix   augmentation algorithm   constraint stabilization  

摘要： To realize automatic modeling and dynamic simulation of the educational assembling-type robot with open structure, a general dynamic model for the educational assembling-type robot and a fast simulation algorithm are put forward. First, the educational robot system is abstracted to a multibody system and a general dynamic model of the educational robot is constructed by the Newton-Euler method. Then the dynamic model is simplified by a combination of components with fixed connections according to the structural characteristics of the educational robot. Secondly, in order to obtain a high efficiency simulation algorithm, based on the sparse matrix technique, the augmentation algorithm and the direct projective constraint stabilization algorithm are improved. Finally, a numerical example is given. The results show that the model and the fast algorithm are valid and effective. This study lays a dynamic foundation for realizing the simulation platform of the educational robot.

关键词： 独轮车机器人   动力学模型   多输入多输出仿射非线性系统   精确线性化  

摘要： 为了实现对于独轮车机器人非线性系统的姿态控制。以独轮车机器人车体的俯仰角度、横滚角度和航向角度作为广义坐标,基于拉格朗日定理提出了一种独轮车机器人的非线性动力学模型。并使用MIMO仿射非线性系统描述了该动力学模型。基于MIMO仿射非线性系统的精确线性化理论设计了独轮车机器人的控制算法,实现了对于输入的解耦。基于该动力学模型和控制算法搭建了仿真系统,仿真结果验证了动力学模型的正确性和反馈线性化控制算法的有效性。

关键词： interval analysis   uncertainties   robotics  

摘要： Interval analysis is a relatively new mathematical tool that allows one to deal with problems that may have to be solved numerically with a computer. Examples of such problems are system solving and global optimization, but numerous other problems may be addressed as well. This approach has the following general advantages: (a) it allows to find solutions of a problem only within some finite domain which make sense as soon as the unknowns in the problem are physical parameters;(b) numerical computer round-off errors are taken into account so that the solutions are guaranteed;(c) it allows one to take into account the uncertainties that are inherent to a physical system. Properties (a) and (c) are of special interest in robotics problems, in which many of the variables are parameters that are measured (i.e., known only up to some bounded errors) while the modeling of the robot is based on parameters that are submitted to uncertainties (e.g., because of manufacturing tolerances). Taking into account these uncertainties is essential for many robotics applications such as medical or space robotics for which safety is a crucial issue. A further inherent property of interval analysis that is of interest for robotics problems is that this approach allows one to deal with the uncertainties that are unavoidable in robotics. Although the basic principles of interval analysis are easy to understand and to implement, this approach will be efficient only if the right heuristics are used and if the problem at hand is formulated appropriately. In this paper we will emphasize various robotics problems that have been solved with interval analysis, many of which are currently beyond the reach of other mathematical approaches.

关键词： Adaptive control   Uncertain kinematics   Inverse dynamics control   Manipulator  

摘要： It has been about two decades since the first globally convergent adaptive tracking controller was derived for robots with dynamic uncertainties. However, not until recently has the problem of concurrent adaptation to both the kinematic and dynamic uncertainties found its solution. This adaptive controller belongs to passivity-based control. Though passivity-based controllers have many attractive properties, in general, they are not able to guarantee the uniform performance of the robot over the entire workspace. Even in the ideal case of perfect knowledge of the manipulator parameters, the closed-loop system remains nonlinear and coupled. Thus the closed-loop tracking performance is difficult to quantify, while the inverse dynamics controllers can overcome these deficiencies. Therefore, in this work, we will develop a new adaptive Jacobian tracking controller based on the inverse manipulator dynamics. Using the Lyapunov approach, we have proved that the end-effector motion tracking errors converge asymptotically to zero. Simulation results are presented to show the performance of the proposed controller. (C) 2009 Elsevier Ltd. All rights reserved.

关键词： ROBOTICS   PHYSICAL therapy  

摘要： The article discusses various reports published within the issue, including one by Sylvain Martel and colleagues on medical nanorobotics, one by Mitchell J. H. Lum and colleagues on design and validation of a telesurgery system, and one by Hiroyuki Ishii and colleagues on the development and experimental evaluation of oral rehabilitation robot that provides maxillofacial massage to patients with oral disorders.

关键词： Line-based recognition   Plane sweep   Real plane   Visibility test  

摘要： We present an algorithm to model 3D workspace and to understand test scene for navigation or human computer interaction in network-based mobile robot. This was done by line-based modelling and recognition algorithm. Line-based recognition using 3D lines has been tried by many researchers however its reliability still needs improvement due to ambiguity of 3D line feature information from original images. To improve the outcome, we approach firstly to find real planes using the given 3D lines and then to implement recognition process. The methods we use are principle component analysis (PCA), plane sweep, visibility test, and iterative closest point (ICP). During the implementation, we also use 3D map information for localization. We apply this algorithm to real test scene images and to find out our result can be useful to identify doors or walls in indoor environment with better efficiency. (C) 2009 Elsevier B.V. All rights reserved.

关键词： 机器手   脑卒中康复   机器人学   人工智能   研究人员   康复锻炼   中风患者   加州大学   病人   帮助  

摘要： 人工智能和机器人越来越多的进入人们的视野了。电子宠物狗会成为你的忠实伙伴,但不会产生满地狗毛。机器人会下棋、跳舞,甚至踢足球。将来,我们或许会请机器人当管家或者保姆。现在,机器人学技术还成为了中风康复的好帮手——真的是一只"手"。美国加州大学的研究人员用一只机器手臂帮助患者进行康复锻炼,他们发现这只"手"让病人的手臂力量和功能都得到提升。

关键词： 机器人技术   实验设计   行为分析   建模   ARMAX   机器人学   识别技术   交互作用  

摘要： 本书反映了机器人技术的变化，讨论了在机器人学的研究实践、实验设计和步骤、定量的描述和行为分析中遇到的问题，以及通过识别技术，如ARMAX和NARMAX，对机器人与环境的交互作用进行建模等。

关键词： 液压支架   焊接机器人   ADAMS   仿真分析  

摘要： 为了提高煤矿液压支架的焊接质量和效率,提出了焊接机器人设计方案。针对焊接机器人设计过程中的动力学问题,通过CATIA建立仿真模型,再由MSC SimDesigner导入ADAMS中进行动力学分析。仿真研究了机构的直线和圆周运动过程,并在给定机构运动范围内,仿真研究其动力学特性,为优化焊接机器人的结构,保证焊接机器人的性能提供依据。

关键词： 仿人机器人   仿造   机器人学   高灵活性   人的发展   高智能   科学家   人类  

摘要： 仿人机器人是真正字面意义上的“机器人”，代表了机器人学的尖端水平。现有的仿人机器人已经能够拥有如人类般的骨骼、关节等等，然而要完全实现高智能、高灵活性的仿人机器人还有很长的路要走。而且，人类对自身有限的了解，也限制了仿人机器人的发展。但这并不影响科学家们对仿人机器人的研发热情……