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《机械工程前沿(英文)》 2021年 第16卷 第4期 页码 698-710 doi: 10.1007/s11465-021-0646-2
关键词: hydraulic manipulator inverse kinematic redundant design spherical wrist
Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO
《机械工程前沿(英文)》 2020年 第15卷 第1期 页码 66-80 doi: 10.1007/s11465-019-0570-x
关键词: parallel mechanism redundant mechanism large rotational angles machine tools 2R1T spindle head collaborative manipulator
Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots
《机械工程前沿(英文)》 2023年 第18卷 第3期 doi: 10.1007/s11465-023-0756-0
关键词: kinetostatic modeling morphology characterization variable friction continuum robots in-situ maintenance
Vibration suppression of speed-controlled robots with nonlinear control
Paolo BOSCARIOL,Alessandro GASPARETTO
《机械工程前沿(英文)》 2016年 第11卷 第2期 页码 204-212 doi: 10.1007/s11465-016-0380-3
In this paper, a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots is presented. The control is developed for devices actuated by speed-controlled servo drives. The conditions for the asymptotic stability of the closed-loop system are derived by ensuring its passivity. The capability of achieving improved trajectory tracking and vibration suppression is shown through experimental tests conducted on a three-axis Cartesian robot. The control is aimed to be compatible with most industrial applications given the simplicity of implementation, the reduced computational requirements, and the use of joint position as the only measured signal.
关键词: industrial robot nonlinear control vibration damping model-free control motion control
Footholds optimization for legged robots walking on complex terrain
《机械工程前沿(英文)》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0742-y
关键词: footholds optimization legged robot complex terrain adapting hexapod robot locomotion control
Modular crawling robots using soft pneumatic actuators
Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG
《机械工程前沿(英文)》 2021年 第16卷 第1期 页码 163-175 doi: 10.1007/s11465-020-0605-3
关键词: soft robot soft pneumatic actuator kinematic model crawling robot modular design
Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI
《机械工程前沿(英文)》 2011年 第6卷 第1期 页码 61-70 doi: 10.1007/s11465-011-0206-2
The choice of non-anthropomorphic kinematic solutions for wearable robots is motivated both by the necessity of improving the ergonomics of physical Human-Robot Interaction and by the chance of exploiting the intrinsic dynamical properties of the robotic structure so to improve its performances. Under these aspects, this new class of robotic solutions is potentially advantageous over the one of anthropomorphic robotic orthoses. However, the process of kinematic synthesis of non-anthropomorphic wearable robots can be too complex to be solved uniquely by relying on conventional synthesis methods, due to the large number of open design parameters. A systematic approach can be useful for this purpose, since it allows to obtain the complete list of independent kinematic solutions with desired properties. In this perspective, this paper presents a method, which allows to generalize the problem of kinematic synthesis of a non-anthropomorphic wearable robot for the assistance of a specified set of contiguous body segments. The methodology also includes two novel tests, specifically devised to solve the problem of enumeration of kinematic structures of wearable robots: the HR-isomorphism and the HR-degeneracy tests. This method has been implemented to derive the atlas of independent kinematic solutions suitable to be used for the kinematic design of a planar wearable robot for the lower limbs.
关键词: assistive robotics non-anthropomorphic wearable robots topology kinematic synthesis HR-isomorphism test HR-degeneracy test
《机械工程前沿(英文)》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0741-z
关键词: steam generator transfer tubes mobile robot dexterous structure task planning efficient inspection
Optimal design of a linkage–cam mechanism-based redundantly actuated parallel manipulator
《机械工程前沿(英文)》 2021年 第16卷 第3期 页码 451-467 doi: 10.1007/s11465-021-0634-6
关键词: redundant actuation parallel manipulator linkage–cam mechanism Jacobian optimal design
Zi-wu REN,Zhen-hua WANG,Li-ning SUN
《信息与电子工程前沿(英文)》 2015年 第16卷 第7期 页码 607-616 doi: 10.1631/FITEE.14a0335
关键词: Inverse kinematics problem 8-DOF humanoid manipulator Biogeography-based optimization (BBO) Differential evolution (DE)
Qingmeng TAN, Yifei TONG, Shaofeng WU, Dongbo LI
《机械工程前沿(英文)》 2020年 第15卷 第1期 页码 1-11 doi: 10.1007/s11465-019-0563-9
关键词: cyber physical system robot assembly multiagent system architecture
一种用于文本分类的去冗余特征选择新方法 None
You-wei WANG, Li-zhou FENG
《信息与电子工程前沿(英文)》 2018年 第19卷 第2期 页码 221-234 doi: 10.1631/FITEE.1601761
M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY
《机械工程前沿(英文)》 2012年 第7卷 第1期 页码 23-28 doi: 10.1007/s11465-012-0304-9
This paper presents an optimal control strategy for optimal trajectory planning of mobile robots by considering nonlinear dynamic model and nonholonomic constraints of the system. The nonholonomic constraints of the system are introduced by a nonintegrable set of differential equations which represent kinematic restriction on the motion. The Lagrange’s principle is employed to derive the nonlinear equations of the system. Then, the optimal path planning of the mobile robot is formulated as an optimal control problem. To set up the problem, the nonlinear equations of the system are assumed as constraints, and a minimum energy objective function is defined. To solve the problem, an indirect solution of the optimal control method is employed, and conditions of the optimality derived as a set of coupled nonlinear differential equations. The optimality equations are solved numerically, and various simulations are performed for a nonholonomic mobile robot to illustrate effectiveness of the proposed method.
关键词: mobile robot trajectory planning nonlinear dynamic optimal control
Pathirikkat GOPAKUMAR, G. Surya CHANDRA, M. Jaya Bharata REDDY, Dusmata Kumar MOHANTA
《能源前沿(英文)》 2013年 第7卷 第4期 页码 413-428 doi: 10.1007/s11708-013-0274-6
关键词: phasor measurement unit (PMU) smart grid (SG) Indian power grid northern region Indian power grid (NRIPG) eastern region Indian power grid (ERIPG) north-eastern region Indian power grid (NERIPG) redundancy integer linear programing (ILP)
王孙安,吴灿阳
《中国工程科学》 2013年 第15卷 第1期 页码 73-78
为了解决复杂环境中移动机器人的路径规划问题,结合人工势场法计算量小的特性和人工免疫网络的自适应调节能力,提出了一种改进的路径规划免疫算法。为了提高免疫网络的搜索能力以及免疫网络的收敛性,将人工势场法的规划结果作为先验知识构建了导向权,同时将抗体命令清晰度和抗体转移后的距离变化作为变量,构建了新的抗体转移概率算子。仿真结果表明,与其他算法相比,新算法在最优规划能力和网络收敛性能方面都有明显提高。
标题 作者 时间 类型 操作
Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical
期刊论文
Design and analysis of a class of redundant collaborative manipulators with 2-dimension large rotational
Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO
期刊论文
Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots
期刊论文
Vibration suppression of speed-controlled robots with nonlinear control
Paolo BOSCARIOL,Alessandro GASPARETTO
期刊论文
Modular crawling robots using soft pneumatic actuators
Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG
期刊论文
A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for
Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI
期刊论文
High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in
期刊论文
Ahybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundant
Zi-wu REN,Zhen-hua WANG,Li-ning SUN
期刊论文
Towards a next-generation production system for industrial robots: A CPS-based hybrid architecture for
Qingmeng TAN, Yifei TONG, Shaofeng WU, Dongbo LI
期刊论文
Trajectory planning of mobile robots using indirect solution of optimal control method in generalized
M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY
期刊论文
Optimal redundant placement of PMUs in Indian power grid — northern, eastern and north-eastern regions
Pathirikkat GOPAKUMAR, G. Surya CHANDRA, M. Jaya Bharata REDDY, Dusmata Kumar MOHANTA
期刊论文