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Offline motion planning and simulation of two-robot welding coordination

Tie ZHANG, Fan OUYANG

《机械工程前沿（英文）》 2012年 第7卷 第1期   页码 81-92 doi: 10.1007/s11465-012-0309-4

摘要：

This paper focuses on the two-robot welding coordination of complex curve seam which means one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneously. This paper builds the dual-robot coordinate system at the beginning, and three point calibration method of two robots’ relative base coordinate system is presented. After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter trajectories through the constrained relationship matrix automatically. Moreover, downhand welding is employed which can guarantee the torch and the seam keep in good contact condition all the time during the welding. Finally, a Solidworks-SimMechanics simulation platform is established, and a simulation of curved steel pipe welding is conducted. The results of the simulation illustrate the welding process can meet the requirements of downhand welding, the joint displacement curves are smooth and continuous and no joint velocities are out of working scope.

关键词： complex curve seam     two robots     coordinated welding     motion planning    

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Comparison of internal force antagonism between redundant cable-driven parallel robots and redundantrigid parallel robots

《机械工程前沿（英文）》 2023年 第18卷 第4期 doi: 10.1007/s11465-023-0767-x

摘要： The internal force antagonism (IFA) problem is one of the most important issues limiting the applications and popularization of redundant parallel robots in industry. Redundant cable-driven parallel robots (RCDPRs) and redundant rigid parallel robots (RRPRs) behave very differently in this problem. To clarify the essence of IFA, this study first analyzes the causes and influencing factors of IFA. Next, an evaluation index for IFA is proposed, and its calculating algorithm is developed. Then, three graphical analysis methods based on this index are proposed. Finally, the performance of RCDPRs and RRPRs in IFA under three configurations are analyzed. Results show that RRPRs produce IFA in nearly all the areas of the workspace, whereas RCDPRs produce IFA in only some areas of the workspace, and the IFA in RCDPRs is milder than that RRPRs. Thus, RCDPRs more fault-tolerant and easier to control and thus more conducive for industrial application and popularization than RRPRs. Furthermore, the proposed analysis methods can be used for the configuration optimization design of RCDPRs.

关键词： cable-driven parallel robots     parallel robots     redundant robots     evaluation index     force solution space    

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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

摘要： In-situ maintenance is of great significance for improving the efficiency and ensuring the safety of aero-engines. The cable-driven continuum robot (CDCR) with twin-pivot compliant mechanisms, which is enabled with flexible deformation capability and confined space accessibility, has emerged as a novel tool that aims to promote the development of intelligence and efficiency for in-situ aero-engine maintenance. The high-fidelity model that describes the kinematic and morphology of CDCR lays the foundation for the accurate operation and control for in-situ maintenance. However, this model was not well addressed in previous literature. In this study, a general kinetostatic modeling and morphology characterization methodology that comprehensively contains the effects of cable-hole friction, gravity, and payloads is proposed for the CDCR with twin-pivot compliant mechanisms. First, a novel cable-hole friction model with the variable friction coefficient and adaptive friction direction criterion is proposed through structure optimization and kinematic parameter analysis. Second, the cable-hole friction, all-component gravities, deflection-induced center-of-gravity shift of compliant joints, and payloads are all considered to deduce a comprehensive kinetostatic model enabled with the capacity of accurate morphology characterization for CDCR. Finally, a compact continuum robot system is integrated to experimentally validate the proposed kinetostatic model and the concept of in-situ aero-engine maintenance. Results indicate that the proposed model precisely predicts the morphology of CDCR and outperforms conventional models. The compact continuum robot system could be considered a novel solution to perform in-situ maintenance tasks of aero-engines in an invasive manner.

关键词： kinetostatic modeling     morphology characterization     variable friction     continuum robots     in-situ maintenance    

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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

摘要： This paper proposes a novel continuous footholds optimization method for legged robots to expand their walking ability on complex terrains. The algorithm can efficiently run onboard and online by using terrain perception information to protect the robot against slipping or tripping on the edge of obstacles, and to improve its stability and safety when walking on complex terrain. By relying on the depth camera installed on the robot and obtaining the terrain heightmap, the algorithm converts the discrete grid heightmap into a continuous costmap. Then, it constructs an optimization function combined with the robot’s state information to select the next footholds and generate the motion trajectory to control the robot’s locomotion. Compared with most existing footholds selection algorithms that rely on discrete enumeration search, as far as we know, the proposed algorithm is the first to use a continuous optimization method. We successfully implemented the algorithm on a hexapod robot, and verified its feasibility in a walking experiment on a complex terrain.

关键词： footholds optimization     legged robot     complex terrain adapting     hexapod robot     locomotion control    

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Dynamic motion of quadrupedal robots on challenging terrain: a kinodynamic optimization approach

《机械工程前沿（英文）》 2024年 第19卷 第3期 doi: 10.1007/s11465-024-0791-5

摘要： The dynamic motion of quadrupedal robots on challenging terrain generally requires elaborate spatial–temporal kinodynamic motion planning and accurate control at higher refresh rate in comparison with regular terrain. However, conventional quadrupedal robots usually generate relatively coarse planning and employ motion replanning or reactive strategies to handle terrain irregularities. The resultant complex and computation-intensive controller may lead to nonoptimal motions or the breaking of locomotion rhythm. In this paper, a kinodynamic optimization approach is presented. To generate long-horizon optimal predictions of the kinematic and dynamic behavior of the quadruped robot on challenging terrain, we formulate motion planning as an optimization problem; jointly treat the foot’s locations, contact forces, and torso motions as decision variables; combine smooth motion and minimal energy consumption as the objective function; and explicitly represent feasible foothold region and friction constraints based on terrain information. To track the generated motions accurately and stably, we employ a whole-body controller to compute reference position and velocity commands, which are fed forward to joint controllers of the robot’s legs. We verify the effectiveness of the developed approach through simulation and on a physical quadruped robot testbed. Results show that the quadruped robot can successfully traverse a 30° slope and 43% of nominal leg length high step while maintaining the rhythm of dynamic trot gait.

关键词： quadrupedal robot     kinodynamic planning     nonlinear optimization     challenging terrain     whole-body control    

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Dynamic compliance of energy-saving legged elastic parallel joints for quadruped robots: design and realization

《机械工程前沿（英文）》 2024年 第19卷 第2期 doi: 10.1007/s11465-024-0784-4

摘要： Achieving dynamic compliance for energy-efficient legged robot motion is a longstanding challenge. Although recent predictive control methods based on single-rigid-body models can generate dynamic motion, they all assume infinite energy, making them unsuitable for prolonged robot operation. Addressing this issue necessitates a mechanical structure with energy storage and a dynamic control strategy that incorporates feedback to ensure stability. This work draws inspiration from the efficiency of bio-inspired muscle–tendon networks and proposes a controllable torsion spring leg structure. The design integrates a spring-loaded inverted pendulum model and adopts feedback delays and yield springs to enhance the delay effects. A leg control model that incorporates motor loads is developed to validate the response and dynamic performance of a leg with elastic joints. This model provides torque to the knee joint, effectively reducing the robot’s energy consumption through active or passive control strategies. The benefits of the proposed approach in agile maneuvering of quadruped robot legs in a realistic scenario are demonstrated to validate the dynamic motion performance of the leg with elastic joints with the advantage of energy-efficient legs.

关键词： dynamic responsiveness     energy dissipation     legged locomotion     parallel joints     quadruped robot    

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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

摘要：

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    

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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

《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

摘要：

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    

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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

摘要： Crawling robots have elicited much attention in recent years due to their stable and efficient locomotion. In this work, several crawling robots are developed using two types of soft pneumatic actuators (SPAs), namely, an axial elongation SPA and a dual bending SPA. By constraining the deformation of the elastomeric chamber, the SPAs realize their prescribed motions, and the deformations subjected to pressures are characterized with numerical models. Experiments are performed for verification, and the results show good agreement. The SPAs are fabricated by casting and developed into crawling robots with 3D-printing connectors. Control schemes are presented, and crawling tests are performed. The speeds predicted by the numerical models agree well with the speeds in the experiments.

关键词： soft robot     soft pneumatic actuator     kinematic model     crawling robot     modular design    

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High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in

《机械工程前沿（英文）》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0741-z

摘要： Many heat transfer tubes are distributed on the tube plates of a steam generator that requires periodic inspection by robots. Existing inspection robots are usually involved in issues: Robots with manipulators need complicated installation due to their fixed base; tube mobile robots suffer from low running efficiency because of their structural restricts. Since there are thousands of tubes to be checked, task planning is essential to guarantee the precise, orderly, and efficient inspection process. Most in-service robots check the task tubes using row-by-row and column-by-column planning. This leads to unnecessary inspections, resulting in a long shutdown and affecting the regular operation of a nuclear power plant. Therefore, this paper introduces the structure and control system of a dexterous robot and proposes a task planning method. This method proceeds into three steps: task allocation, base position search, and sequence planning. To allocate the task regions, this method calculates the tool work matrix and proposes a criterion to evaluate a sub-region. And then all tasks contained in the sub-region are considered globally to search the base positions. Lastly, we apply an improved ant colony algorithm for base sequence planning and determine the inspection orders according to the planned path. We validated the optimized algorithm by conducting task planning experiments using our robot on a tube sheet. The results show that the proposed method can accomplish full task coverage with few repetitive or redundant inspections and it increases the efficiency by 33.31% compared to the traditional planning algorithms.

关键词： steam generator transfer tubes     mobile robot     dexterous structure     task planning     efficient inspection    

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DARPA机器人地下挑战赛

Mitch Leslie

《工程（英文）》 2022年 第13卷 第6期   页码 2-4 doi: 10.1016/j.eng.2022.04.003

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Trajectory planning of mobile robots using indirect solution of optimal control method in generalized

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

摘要：

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    

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Review of key technologies of climbing robots

《机械工程前沿（英文）》 2023年 第18卷 第4期 doi: 10.1007/s11465-023-0764-0

摘要： In recent years, the robot industry has developed rapidly, and researchers and enterprises have begun to pay more attention to this industry. People are barely familiar with climbing robots, a kind of special robot. However, from their practical value and scientific research value, climbing robots should studied further. This paper analyzes and summarizes the key technologies of climbing robots, introduces various kinds of climbing robots, and examines their advantages and disadvantages to provide a reference for future researchers. Many countries have studied climbing robots and made some achievements. However, due to the complexity of climbing robots, their climbing efficiency and accuracy need to be further improved. The new structure can improve the climbing efficiency. This paper analyzes climbing robots such as mechanical arms, magnetic attraction, and claws. Optimization methods and path planning can improve the accuracy of work. This paper involves some control methods, including complex intelligent control methods such as behavior-based robot control. This paper also investigates various kinematic planning methods and expounds and summarizes various path planning algorithms, including machine learning and reinforcement learning of artificial intelligence, ant colony algorithm, and other algorithms. Therefore, by analyzing the research status of climbing robots at home and abroad, this paper summarizes three important aspects of climbing robots, namely, structural design, control methods, and climbing strategies, elaborates on the achievements and existing problems of these key technologies, and looks forward to the future development trend and research direction of climbing robots.

关键词： climbing robot     mechanical structure design     control system     kinematics planning     path planning    

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Towards a next-generation production system for industrial robots: A CPS-based hybrid architecture for

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

摘要： Given the multiple varieties and small batches, the production of industrial robots faces the ongoing challenges of flexibility, self-organization, self-configuration, and other “smart” requirements. Recently, cyber physical systems have provided a promising solution for the requirements mentioned above. Despite recent progress, some critical issues have not been fully addressed at the shop floor level, including dynamic reorganization and reconfiguration, ubiquitous networking, and time constrained computing. Toward the next generation production system for industrial robots, this study proposed a hybrid architecture for smart assembly shop floors with closed-loop dynamic cyber physical interactions. Aiming for dynamic reorganization and reconfiguration, the study also proposed modularized smart assembly units for the deployment of physical assembly processes. Enabling technologies, such as multiagent system (MAS), self-organized wireless sensor actuator networks, and edge computing, were discussed and then integrated into the proposed architecture. Furthermore, a multijoint robot assembly process was selected as a target scenario. Thus, an MAS was developed to simulate the coordination and negotiation mechanisms for the proposed architecture on the basis of the Java Agent Development Framework platform.

关键词： cyber physical system     robot assembly     multiagent system     architecture    

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基于势场导向权的改进机器人路径规划免疫算法

王孙安,吴灿阳

《中国工程科学》 2013年 第15卷 第1期   页码 73-78

摘要：

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。

关键词： 免疫网络     人工势场     移动机器人     路径规划    

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标题 作者 时间 类型 操作

Offline motion planning and simulation of two-robot welding coordination

Tie ZHANG, Fan OUYANG

期刊论文

Comparison of internal force antagonism between redundant cable-driven parallel robots and redundantrigid parallel robots

期刊论文

Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

期刊论文

Footholds optimization for legged robots walking on complex terrain

期刊论文

Dynamic motion of quadrupedal robots on challenging terrain: a kinodynamic optimization approach

期刊论文

Dynamic compliance of energy-saving legged elastic parallel joints for quadruped robots: design and realization

期刊论文

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

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

Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

期刊论文

High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in

期刊论文

DARPA机器人地下挑战赛

Mitch Leslie

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

Review of key technologies of climbing robots

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

基于势场导向权的改进机器人路径规划免疫算法

王孙安,吴灿阳

期刊论文