关键词： SCARA机器人   动力学   参数辨识   随机权重   粒子群算法  

摘要： 针对SCARA机器人在负载条件下末端动力学参数难以辨识的问题,在分析负载对各关节力矩影响的基础上,对SCARA机器人进行了结构简化,利用Lagrange法建立带负载机器人的动力学数学模型,确定了需要辨识的机器人末端动力学参数。在传统粒子群算法的基础上,提出一种随机权重粒子群算法对机器人动力学参数进行辨识,并编写了相应的程序。仿真辨识结果表明:随机权重粒子群算法的收敛速度与参数粒子搜索范围得到明显提升,辨识出的机器人力矩与实际输出力矩基本吻合,说明该算法对机器人动力学参数的辨识具有较高的精度;与遗传算法、基本粒子群算法相比,随机权重粒子群算法辨识得到的适应度函数最优值最小,不易陷入局部最优,便于全局搜索,参数辨识精确更高。

关键词： 码垛机器人   刚柔耦合   动力学仿真分析  

摘要： 目的为了更全面地了解码垛机器人的动态性能,分析码垛机器人臂部变形对其运动精度的影响。方法以ABB的IRB760型机器人为分析对象,运用Lagrange法计算得到其刚柔耦合动力学模型,然后运用ADAMS软件对机器人在一个工作周期内的运动过程,分别进行刚体动力学仿真和刚柔耦合动力学仿真。结果机器人末端执行器柔性仿真的速度曲线与刚性仿真的速度曲线基本相同,在运行过程中速度变化平稳连续,无突变,而位移曲线机器人运行状态改变时有区别,柔性仿真的加速度波动较大。结论码垛机器人臂部柔性变形对机器人的运行精度及稳定性影响较大,采用刚柔耦合方法可以更加准确地分析码垛机器人的运行状态。

关键词： 包装生产线   搬运   机器人   动力学   ADAMS  

摘要： 目的为了解决六轴机器人包装行业中装箱、搬运等工序的应用问题,主要基于包装生产线的搬运工序设计作业机器人并对其动力学进行研究。方法根据包装生产线搬运工序的作业特点,将机器人结构设计为六轴关节型机器人,每个关节均通过伺服电机连接减速器驱动,通过牛顿-欧拉法对机器人进行动力学分析,建立机器人模型,并运用ADAMS软件对其动力学进行仿真分析。结果所设计机器人关节的运动轨迹曲线平稳变化,轨迹平滑连续,角速度和角加速度曲线平滑、无突变。结论机器人运动平稳,在运动过程中振动较小,证明了结构设计的合理性,为六轴机器人的优化设计提供了理论基础。

关键词： Deep reinforcement learning   Autonomous aerial robots   Resource-constrained deep RL   Robotics   Deep RL challenges   Sim2Real   Real life RL  

摘要： We introduce Air Learning, an open-source simulator, and a gym environment for deep reinforcement learning research on resource-constrained aerial robots. Equipped with domain randomization, Air Learning exposes a UAV agent to a diverse set of challenging scenarios. We seed the toolset with point-to-point obstacle avoidance tasks in three different environments and Deep Q Networks (DQN) and Proximal Policy Optimization (PPO) trainers. Air Learning assesses the policies' performance under various quality-offlight (QoF) metrics, such as the energy consumed, endurance, and the average trajectory length, on resource-constrained embedded platforms like a Raspberry Pi. We find that the trajectories on an embedded Ras-Pi are vastly different from those predicted on a high-end desktop system, resulting in up to 40% longer trajectories in one of the environments. To understand the source of such discrepancies, we use Air Learning to artificially degrade high-end desktop performance to mimic what happens on a low-end embedded system. We then propose a mitigation technique that uses the hardware-in-the-loop to determine the latency distribution of running the policy on the target platform (onboard compute on aerial robot). A randomly sampled latency from the latency distribution is then added as an artificial delay within the training loop. Training the policy with artificial delays allows us to minimize the hardware gap (discrepancy in the flight time metric reduced from 37.73% to 0.5%). Thus, Air Learning with hardware-in-the-loop characterizes those differences and exposes how the onboard compute's choice affects the aerial robot's performance. We also conduct reliability studies to assess the effect of sensor failures on the learned policies. All put together, Air Learning enables a broad class of deep RL research on UAVs.

关键词： actuator   haptics   human–   machine interfaces   polymerization   robotics  

摘要： Progress in the field of soft devices-that is, the types of haptic, robotic, and human-machine interfaces (HRHMIs) in which elastomers play a key role has its basis in the science of polymeric materials and chemical synthesis. However, in examining the literature, it is found that most developments have been enabled by off-the-shelf materials used either alone or as components of physical blends and composites. A greater awareness of the methods of synthetic chemistry will accelerate the capabilities of HRHMIs. Conversely, an awareness of the applications sought by engineers working in this area may spark the development of new molecular designs and synthetic methodologies by chemists. Several applications of active, stimuli-responsive polymers, which have demonstrated or shown potential use in HRHMIs are highlighted. These materials share the fact that they are products of state-of-the-art synthetic techniques. The progress report is thus organized by the chemistry by which the materials are synthesized, including controlled radical polymerization, metal-mediated cross-coupling polymerization, ring-opening polymerization, various strategies for crosslinking, and hybrid approaches. These methods can afford polymers with multiple properties (i.e., conductivity, stimuli-responsiveness, self-healing, and degradable abilities, biocompatibility, adhesiveness, and mechanical robustness) that are of great interest to scientists and engineers concerned with soft devices for human interaction.

关键词： Service Humanoid robotics   Robot in hospitality   Artificial intelligence  

摘要： Nowadays, the Fourth Industrial Revolution has brought artificial intelligence to the forefront, and more and more intelligent robots begin to be used in the hospitality industry. In this study, the application of service humanoid robots in the hospitality industry is investigated based on Cardiff Metropolitan University EUREKA Robotics Lab's robot as reported by Lab (in Eureka robotics lab, 2017, ). The research ontology of this study is post-positivism. The research philosophy of this research is phenomenology. Phenomenological studies have indicated that this phenomenon can only be truly understood and experienced through subjective immersive research directly involving researchers, and the interaction among researchers is an integral part of the research. In this study, the data are collated through case researches and experimental interviews. Finally, Some proposals for transforming the traditional hospitality industry into the direction of intelligence is summarized. In future research, a technical model combining artificial intelligence will be further developed.

关键词： Robots   Autonomous systems   Ontologies  

摘要： The IEEE1872.2 Autonomous Robotics (AuR) Ontology Working Group has recently developed the AuR ontology standard. This standard is a logical extension to IEEE 1872–2015 Standard Ontologies for Robotics and Automation, core ontology or robotics and automation (CORA).

关键词： Kinematics   Power cables   Uncertainty   Mathematical model   Synchronization   Dynamics   Adaptation models   Adaptive control   cable tension   dynamic control   parallel robot   synchronization control (SC)  

摘要： Cable-driven parallel robots (CDPRs) are a new type of parallel robots with a mobile platform driven by several cables. The flexibility of the structure not only helps them perform better than traditional parallel robots, but also brings about the issues of model uncertainty and multicable coordination. To handle these problems, a novel adaptive synchronization control (ASC) scheme is proposed to suppress the uncertainties of kinematics and dynamics simultaneously, regulate the coordination motion of multiple cables, and finish high-precision tracking tasks. In the proposed scheme, apart from tracking error, a new synchronization error is introduced to describe the coordination motion relationship between adjacent cables. According to these defined errors, the kinematic and dynamic adaptation laws are designed through the linear expressions of kinematic and dynamic models, respectively. Finally, the ASC scheme is presented as well as a tension distribution algorithm. The tracking experiments are implemented on a redundantly actuated 3-degree-of-freedom CDPR with four cables. The proposed ASC scheme can effectively complete the correction of the model parameters by using the feedback of errors and enhance the tracking accuracy of each cable and the synchronization accuracy between all the cables significantly, thereby ultimately improving the control performance of the mobile platform.

关键词： Robot kinematics   Optical fibers   Optical fiber devices   Convergence   Telescopes   System recovery   Automation  

摘要： This article introduces the emerging field of astrobotics, a branch of robotics recently established to be of service to astrophysics and observational astronomy. We describe a modern requirement of dark matter studies, i.e., the generation of a map of the observable universe, using astrobots. Astrobots differ from conventional two-degreesof-freedom (DoF) robotic manipulators in two respects. First, the dense formation of astrobots gives rise to the extremely overlapping dynamics of neighboring peers, which makes the devices severely subject to collisions. Second, the structure of astrobots and their mechanical specifications are specialized due to the embedded optical fibers passing through them.

关键词： acute care surgery   emergency surgery   robotic surgery   anastomotic leak   perforated diverticulitis  

摘要： Robotic surgery is growing exponentially in elective colorectal procedures, but utilization of robotics in urgent and emergency procedures remains low. Robotic surgery can be safely utilized for the management of several acute colorectal operations such as anastomotic leaks, perforated diverticulitis, and more. This chapter discusses safe access principles and planning, as well as technical aspects of these complex procedures, and the pathway to building a 24/7 robotic access culture.