关键词： 绳索牵引   康复机器人   轨迹控制   柔顺性控制   动力学建模  

摘要： 针对在康复训练过程中如何协调控制患者的骨盆运动轨迹问题,设计了由4根绳索牵引的三自由度绳索牵引并联康复机器人.基于力/位混合控制的思想,利用牛顿-欧拉法建立了绳索牵引康复机器人的动力学模型.以轨迹控制为目标,用计算力矩法设计了基于刚性模型的位置控制器,就绳索的刚度对机器人系统性能的影响进行了仿真分析;以刚度控制为目标,推导了机器人系统的刚度矩阵,并对康复机器人进行了仿真验证.理论分析和仿真结果表明,系统的刚度与绳索的张力有关,调整绳索的内张力可以改变系统刚度,实现对机器人系统的柔顺性控制.

关键词： Obstetrics   Gynecology  

摘要： OBJECTIVE: To compare adequacy and outcomes of surgical staging for endometrial cancer in obese women by robotics or laparotomy. METHODS: Clinical stage I or occult stage II endometrial cancer patients with body mass indexes (BMIs) of at least 30 (BMI is calculated as weight (kg)/[height (m)](2)) were identified undergoing robotic staging and matched 1:2 with laparotomy patients. Patient characteristics, operative times, complications, and pathologic factors were collected. An adequate lymphadenectomy was defined arbitrarily as at least 10 total nodes removed, and adequate pelvic and paraaortic lymphadenectomy was defined as at least six and at least four nodes removed, respectively. RESULTS: A total of 109 patients underwent surgery with the intent of robotic staging and were matched to 191 laparotomy patients. The mean BMI was 40 for each group. The robotic conversion rate was 15.6% (95% confidence interval [CI] 9.5-24.2%). Ninety-two completed robotic patients were compared with 162 matched laparotomy patients. The two groups were comparable regarding total lymph node count (25 +/- 13 compared with 24 +/- 12, P=.45) and the percentage of patients undergoing adequate lymphadenectomy (85% compared with 91%, P=.16) and adequate pelvic (90% compared with 95%, P=.16) and aortic lymphadenectomy (76% compared with 79%, P=.70) for robotic and laparotomy patients, respectively, but there was limited power to detect this difference. The blood transfusion rate (2% compared with 9%, odds ratio [OR] 0.22, 95% CI 0.05-0.97, P=.046), the number of nights in the hospital 0 compared with 3, P<.001), complications (11% compared with 27%, OR 0.29, 95% CI 0.13-0.65 P=.003), and wound problems (2% compared with 17%, OR 0.10, 95% CI 0.02-0.43, P=.002) were reduced for robotic surgery. CONCLUSION: In obese women with endometrial cancer, robotic comprehensive surgical staging is feasible. Importantly, obesity may not compromise the ability to adequately stage patients robotically. (Obst

关键词： MAV   Neural network   Multi-Agent System   Evolutionary Robotics   Distributed control  

摘要： The work presented in this article focuses on the use of embodied neural networks - developed through Evolutionary Robotics and Multi-Agent Systems methodologies - as autonomous distributed controllers for Micro-unmanned Aerial Vehicle (MAV) teams. The main aim of the research is to extend the range of domains that could be successfully tackled by the Evolutionary Robotics approach. The flying robots realm is an area that has not been yet thoroughly investigated by this discipline. This is due to the lack of an affordable and reliable robotic platform to use for carrying out experiments, and to the difficulty and the high computational load involved in experiments based upon a realistic software simulator for aircraft. We believe that the most recent improvements to the state of the art now permit the investigation of this domain. For demonstrating this point, two different evolutionary computer simulation models are presented in this article. The first model, which uses a simplified 2D test environment, has resulted in controllers evolved with the following capabilities: (1) navigation through unknown environments, (2) obstacle-avoidance, (3) tracking of a movable target, and (4) execution of cooperative and coordinated behaviors based on implicit communication strategies. In order to improve the robustness of these results and their potential use in real MAV teams, a more sophisticated 3D model is presented herein. The results obtained so far using the two models demonstrate the feasibility of the chosen approach for further research on the design of autonomous controllers for MAVs. (C) 2009 Elsevier Ltd. All rights reserved.

关键词： Robotics   Machinery   Packing (Mechanical engineering)  

摘要： The article presents the latest robotic palletisation and case packing technology from Milk Link. It has improved cost effectiveness through stream lining line capabilities with flexible automation solution that features 10-minute changeover times between a product format variation. Neil Kennedy, Milk Link's chief executive states that the completion of the project will mark a milestone in their commitment to provide excellent customer service through state-of-the-art facilities.

关键词： Bipedal robots   Central Pattern Generator   Fuzzy logic   Adaptive Modular Active Leg   Rayleigh's oscillator  

摘要： The objective of the work presented here is to develop a low cost active above knee prosthetic device exploiting bipedal robotics technology which will work utilizing the available biological motor control circuit properly integrated with a Central Pattern Generator (CPG) based control scheme. The approach is completely different from the existing Active Prosthetic devices, designed primarily as standalone systems utilizing multiple sensors and embedded rigid control schemes. In this research, first we designed a fuzzy logic based methodology for offering suitable gait pattern for an amputee, followed by formulating a suitable algorithm for designing a CPG, based on Rayleigh's oscillator. An indigenous probe, Humanoid Gait Oscillator Detector (HGOD) has been designed for capturing gait patterns from various individuals of different height, weight and age. These data are used to design a Fuzzy inference system which generates most suitable gait pattern for an amputee. The output of the Fuzzy inference system is used for designing a CPG best suitable for the amputee. We then developed a CPG based control scheme for calculating the damping profile in real time for maneuvering a prosthetic device called AMAL (Adaptive Modular Active Leg). Also a number of simulation results are presented which show the stable behavior of knee and hip angles and determine the stable limit cycles of the network. (C) 2009 Elsevier B.V . All rights reserved.

关键词： 五杆机构   人机合作机器人   Kane法   动力学分析   MATLAB仿真  

摘要： 人机合作机器人(Cobot)是一种新型的机器人,它可以和操作者在同一作业空间内直接协同作业。以Kane方法和五杆Cobot的运动学为基础,以机座关节所连的两个运动杆件的角速度作为广义速率,推导出各杆质心的偏速度和各杆的偏角速度,进而推导出五杆Cobot自由模式和约束模式时的动力学方程。利用MATLAB进行了数值仿真,仿真结果表明,该机器人具有被动和约束的特点。该动力学方程可以应用于Cobot的控制特性分析、仿真等方面。

关键词： 多项式在线更新   握手机器人   动力学   吸引子   忘却系数  

摘要： 为实现人和机器人握手运动的同步,本文提出了一种基于动力学在线更新的智能控制器.首先,建立了人和机器人握手的仿真模型;然后对智能控制器中有任意吸引子的动力学系统进行多项式近似设计和在线更新设计,使其具备自振动特性和输入输出同步特性;同时通过忘却系数和负荷系数,输入输出同步程度能实现参数可调;最后,将该智能控制器用于人和机器人握手的控制中,仿真结果表明了该智能控制器设计的有效性.

关键词： 并联机器人   拉格朗日方程   动力学  

摘要： 以3-RRRT并联机器人为研究对象,应用拉格朗日方程建立了3-RRRT并联机器人的动力学模型,从而求得机构的驱动力,为3-RRRT并联机器人的轨迹规划和电机参数的选取提供有力的支持.结果表明,利用拉格朗日方程进行动力学问题分析更为简洁和方便.

关键词： 四足机器人   动力学   仿真  

摘要： 针对四足机器人的结构特点,利用拉格朗日法导出其简化结构多刚体系统的动力学方程组.同时利用ADAMS建立了四足机器人的虚拟样机,采用规划好的步态,对其进行动力学仿真.仿真结果验证了动力学数学建模的正确性及结构设计的可行性,为提升控制品质的后续研究工作提供有价值的数据信息.

关键词： 绳牵引   康复机器人   力/位控制   模糊滑模控制  

摘要： 针对康复训练过程中如何协调控制患者骨盆运动的问题,设计了由4根绳牵引的三自由度绳牵引并联康复机器人。基于力/位混合控制的思想,利用牛顿-欧拉法建立了绳牵引康复机器人的动力学模型,推导出绳的拉力和驱动电机控制力矩的计算公式。考虑到该机器人系统具有非线性、强耦合、多输入多输出等特点,采用模糊滑模控制算法来实现骨盆的轨迹跟踪。理论分析和仿真实验结果表明,该控制算法不仅能满足骨盆轨迹跟踪精度的要求,而且具有较强的鲁棒性。