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Serial robotic plasma additive manufacturing on complex NURBS surface 复杂NURBS表面连续机器人等离子体增材制造
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2022-09-13 DOI: 10.1108/ir-04-2022-0097
Zhaoqin Wang, Yu Shi, Xiaorong Wang
PurposeThis paper aims to investigate the additive manufacturing (AM) approach of a spatial complex curve feature (SCCF, mapped from two-dimensional nonuniform rational B-splines [2D-NURBS] curve) on a complex surface based on a serial robot using plasma built-up welding, and lays a foundation for plasma AM SCCFs on complex surfaces by combining the NURBS theory with the serial robotic kinematics.Design/methodology/approachCombining serial robotic kinematics and NURBS theory, a SCCF mapped from a square-like 2D-NURBS curve is prepared on a predefined complex NURBS surface using serial robotic plasma AM. The interpolation points C (ui) on the square-like 2D-NURBS curve are obtained using the equi-chord length interpolation method, and mapped on a predefined NURBS surface to get mapped points S (ui, vj). The homogeneous transformation matrix T = [n o a S (ui, vj)] of the plasma torch is calculated using the mapped points S (ui, vj) and the designated posture [n o a]. Using the inverse kinematics of the serial robot, the joint vector θ of the serial robot can be computed. After that, the AM programs are generated and transferred into the serial robotic controller and carried out by the serial robot of Motoman-UP6. The 2D-NURBS curve (square-like) is considered as AM trajectory planning curve, while its corresponding SCCF mapped from the 2D-NURBS curve as AM trajectory.FindingsSimulation and experiments show that the preparation of SCCF (mapped from 2D-NURBS curve) on complex NURBS surface using robotic plasma AM is feasible and effective.Originality/valueA SCCF mapped from a 2D-NURBS curve is prepared on a complex NURBS surface using the serial robotic plasma AM for the first time. It provides a theoretical and technical basis for plasma AM to produce SCCFs on complex surfaces. With the increasing demand for surface remanufacturing of complex parts, the serial robotic plasma AM of SCCFs on complex NURBS surfaces has a broad application prospect in aero-engine components, high-speed rail power components, nuclear industry components and complex molds.
目的研究基于等离子体堆焊串联机器人的复杂曲面空间复杂曲线特征(SCCF,从二维非均匀有理b样条曲线[2D-NURBS]曲线映射)的增材制造方法,并将NURBS理论与串联机器人运动学相结合,为复杂曲面等离子体增材制造SCCF奠定基础。设计/方法/方法结合连续机器人运动学和NURBS理论,利用连续机器人等离子体增材制造技术在预定义的复杂NURBS曲面上制备了由方形2D-NURBS曲线映射的SCCF。采用等弦长插值方法在类方形2D-NURBS曲线上获得插值点C (ui),并将其映射到预定义的NURBS曲面上,得到映射点S (ui, vj)。利用映射点S (ui, vj)和指定姿态[n o a]计算等离子炬的齐次变换矩阵T = [n o a S (ui, vj)]。利用串联机器人的运动学逆解,可以计算出串联机器人的关节向量θ。然后生成调幅程序,并将其传输到串行机器人控制器中,由Motoman-UP6串行机器人执行。将2D-NURBS曲线(方形)视为AM轨迹规划曲线,其对应的SCCF从2D-NURBS曲线映射为AM轨迹。仿真和实验结果表明,利用机器人等离子体增材制造复杂NURBS曲面上的SCCF (2D-NURBS曲线映射)是可行和有效的。首次使用串行机器人等离子体AM在复杂的NURBS表面上制备了从2D-NURBS曲线映射的SCCF。为等离子体增材制造复杂表面上的sccf提供了理论和技术基础。随着复杂零件表面再制造需求的不断增加,在复杂NURBS表面上连续机器人等离子体增材制造sccf在航空发动机部件、高铁动力部件、核工业部件和复杂模具等领域具有广阔的应用前景。
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引用次数: 0
Laser pointer for manual teaching of coating robot 涂装机器人手工教学用激光笔
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2022-09-13 DOI: 10.1108/ir-04-2022-0091
Zhiyong Shang
PurposeThe purpose of this paper is to present a novel laser pointer for manual coating robot teaching. The laser pointer has simple structure and no physical contact with substrate in teaching work. The sensitivity of visual detection in the design accuracy is guaranteed.Design/methodology/approachThe strategy adopts two laser sources to form a triangle to achieve a fixed distance detection pointer for manual robot teaching. After optimizing the source, spot size and the incident angle of the lasers, the sensitivity of fixed-distance judgment is analyzed and compared with traditional pointers. In addition, the laser pointer adds the functions to simulate coating atomizer, including posture and overlap pitch. Finally, the laser pointer verified by coating application and measurement system analysis evaluation.FindingsThe laser pointer has been successfully applied to coating robot teaching by the authors’ team. From the simulation and experimental results, it can be concluded that the proposed approach is effective at improving manual teaching of coating robot, especially for the complex geometry.Research limitations/implicationsThe main function of the laser pointer often used for manual teaching in other purposes; for example, sealer etc. The paper innovatively considered and tested the laser pointer on robotic coating process.Originality/valueCompared with the traditional hard straight stick pointer, the paper proposes a very simple construction for teaching pointer with laser feature. At the same time, the requirement of coating process simulation is considered.
目的研制一种新型激光笔,用于机器人手工涂布教学。激光笔结构简单,在教学工作中不与基材发生物理接触。在设计精度上保证了视觉检测的灵敏度。该策略采用两个激光源形成三角形,实现固定距离的检测指针,用于人工机器人教学。在优化光源、光斑大小和激光器入射角的基础上,分析了固定距离判断的灵敏度,并与传统指针进行了比较。此外,激光笔增加了模拟涂层雾化器的功能,包括姿态和重叠间距。最后对激光笔进行了涂层应用验证和测量系统分析评价。研究结果:该激光笔已成功应用于机器人涂布教学。仿真和实验结果表明,该方法能有效提高涂装机器人的手工教学,特别是对复杂几何图形的手工教学。研究局限/启示激光笔的主要功能常用于手工教学的其他用途;如封口机等。本文创新性地考虑并测试了激光笔在机器人涂层工艺中的应用。与传统的硬直杆指针相比,本文提出了一种非常简单的具有激光特征的教学指针结构。同时考虑了涂层过程仿真的要求。
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引用次数: 0
Judgment method of grasping stability for dexterous hand based on force balance theorem and Monte Carlo method 基于力平衡定理和蒙特卡罗法的灵巧手抓取稳定性判断方法
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2022-09-08 DOI: 10.1108/ir-05-2022-0125
Yinghan Wang, Diansheng Chen, Zhe Liu
PurposeMulti-sensor fusion in robotic dexterous hands is a hot research field. However, there is little research on multi-sensor fusion rules. This study aims to introduce a multi-sensor fusion algorithm using a motor force sensor, film pressure sensor, temperature sensor and angle sensor, which can form a consistent interpretation of grasp stability by sensor fusion without multi-dimensional force/torque sensors.Design/methodology/approachThis algorithm is based on the three-finger force balance theorem, which provides a judgment method for the unknown force direction. Moreover, the Monte Carlo method calculates the grasping ability and judges the grasping stability under a certain confidence interval using probability and statistics. Based on three fingers, the situation of four- and five-fingered dexterous hand has been expanded. Moreover, an experimental platform was built using dexterous hands, and a grasping experiment was conducted to confirm the proposed algorithm. The grasping experiment uses three fingers and five fingers to grasp different objects, use the introduced method to judge the grasping stability and calculate the accuracy of the judgment according to the actual grasping situation.FindingsThe multi-sensor fusion algorithms are universal and can perform multi-sensor fusion for multi-finger rigid, flexible and rigid-soft coupled dexterous hands. The three-finger balance theorem and Monte Carlo method can better replace the discrimination method using multi-dimensional force/torque sensors.Originality/valueA new multi-sensor fusion algorithm is proposed and verified. According to the experiments, the accuracy of grasping judgment is more than 85%, which proves that the method is feasible.
目的机器人灵巧手的多传感器融合是一个研究热点。然而,对多传感器融合规则的研究却很少。本研究旨在介绍一种利用电机力传感器、薄膜压力传感器、温度传感器和角度传感器的多传感器融合算法,该算法可以在没有多维力/扭矩传感器的情况下,通过传感器融合形成抓取稳定性的一致解释。该算法基于三指力平衡定理,为未知的力方向提供了一种判断方法。蒙特卡罗方法计算抓取能力,并在一定置信区间内利用概率统计判断抓取稳定性。在三指的基础上,扩展了四指和五指灵巧手的情况。利用灵巧手搭建了实验平台,并进行了抓握实验,验证了该算法的有效性。抓取实验采用三指和五指抓取不同的物体,利用所介绍的方法对抓取稳定性进行判断,并根据实际抓取情况计算判断的准确性。结果多传感器融合算法具有通用性,可实现多指刚性、柔性和刚软耦合灵巧手的多传感器融合。三指平衡定理和蒙特卡罗方法可以较好地取代使用多维力/扭矩传感器的判别方法。提出并验证了一种新的多传感器融合算法。实验结果表明,抓取判断准确率达85%以上,证明了该方法的可行性。
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引用次数: 0
Robot programming by demonstration with a monocular RGB camera 用单目RGB摄像机演示机器人编程
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2022-09-06 DOI: 10.1108/ir-04-2022-0093
Kaimeng Wang, Te Tang
PurposeThis paper aims to present a new approach for robot programming by demonstration, which generates robot programs by tracking 6 dimensional (6D) pose of the demonstrator’s hand using a single red green blue (RGB) camera without requiring any additional sensors.Design/methodology/approachThe proposed method learns robot grasps and trajectories directly from a single human demonstration by tracking the movements of both human hands and objects. To recover the 6D pose of an object from a single RGB image, a deep learning–based method is used to detect the keypoints of the object first and then solve a perspective-n-point problem. This method is first extended to estimate the 6D pose of the nonrigid hand by separating fingers into multiple rigid bones linked with hand joints. The accurate robot grasp can be generated according to the relative positions between hands and objects in the 2 dimensional space. Robot end-effector trajectories are generated from hand movements and then refined by objects’ start and end positions.FindingsExperiments are conducted on a FANUC LR Mate 200iD robot to verify the proposed approach. The results show the feasibility of generating robot programs by observing human demonstration once using a single RGB camera.Originality/valueThe proposed approach provides an efficient and low-cost robot programming method with a single RGB camera. A new 6D hand pose estimation approach, which is used to generate robot grasps and trajectories, is developed.
本文旨在提出一种新的机器人演示编程方法,该方法通过使用单个红绿蓝(RGB)相机跟踪演示者手部的6维(6D)姿势来生成机器人程序,而无需任何额外的传感器。设计/方法/方法所提出的方法通过跟踪人手和物体的运动,直接从单个人类演示中学习机器人的抓取和轨迹。为了从单个RGB图像中恢复物体的6D姿态,首先使用基于深度学习的方法检测物体的关键点,然后解决透视n点问题。首先将该方法扩展到非刚性手的6D姿态估计,将手指分离成多个与手关节相连的刚性骨骼。根据手与物体在二维空间中的相对位置,可以生成精确的机器人抓握。机器人末端执行器轨迹由手部运动生成,然后根据物体的起始和结束位置进行细化。在FANUC LR Mate 200iD机器人上进行了实验以验证所提出的方法。结果表明,利用单个RGB相机,通过观察人类演示一次,生成机器人程序是可行的。该方法提供了一种高效、低成本的单RGB相机机器人编程方法。提出了一种新的6D手部姿态估计方法,用于生成机器人抓取和轨迹。
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引用次数: 3
Adaptive sliding mode control for tunnel boring machine cutterhead telescopic system with uncertainties 具有不确定性的隧道掘进机刀盘伸缩系统的自适应滑模控制
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2022-08-25 DOI: 10.1108/ir-04-2022-0096
Hangjun Zhang, Jin-hui Fang, Jianhua Wei, Huan Yu, Qiang Zhang
PurposeThis paper aims to present an adaptive sliding mode control (ASMC) for tunnel boring machine cutterhead telescopic system with uncertainties to achieve a high-precision trajectory in complex strata. This method could be applied to solve the problems caused by linear and nonlinear model uncertainties.Design/methodology/approachFirst, an integral-type sliding surface is defined to reduce the static tracking error. Second, a projection type adaptation law is designed to approximate the linear and nonlinear redefined parameters of the electrohydraulic system. Third, a nonlinear robust term with a continuous approximation function is presented for handling load force uncertainty and reducing sliding mode chattering. Moreover, Lyapunov theory is applied to guarantee the stability of the closed-loop system. Finally, the effectiveness of the proposed controller is proved by comparative experiments on a scaled test rig.FindingsThe linear and nonlinear model uncertainties lead to large variations in the dynamics of the mechanism and the tracking error. To achieve precise position tracking, an adaptation law was integrated into the sliding mode control which compensated for model uncertainties. Besides, the inherent sliding mode chattering was reduced by a continuous approximation function, while load force uncertainty was solved by a nonlinear robust feedback. Therefore, a novel ASMC for tunnel boring machine cutterhead telescopic system with uncertainties can improve its tracking precision and reduce the sliding mode chattering.Originality/valueTo the best of the authors’ knowledge, the ASMC is proposed for the first time to control the tunnel boring machine cutterhead telescopic system with uncertainties. The presented control is effective not only in control accuracy but also in parameter uncertainty.
目的提出一种具有不确定性的隧道掘进机刀盘伸缩系统的自适应滑模控制(ASMC),以实现复杂地层中的高精度轨迹。该方法可用于求解由线性和非线性模型不确定性引起的问题。设计/方法/方法首先,定义了一个积分型滑动面来减小静态跟踪误差。其次,设计了一种投影型自适应律来逼近电液系统的线性和非线性重定义参数。第三,提出了一种具有连续逼近函数的非线性鲁棒项,用于处理负载力不确定性和减小滑模抖振。利用李雅普诺夫理论保证了闭环系统的稳定性。最后,通过实验验证了该控制器的有效性。发现线性和非线性模型的不确定性导致机构动力学和跟踪误差的大变化。为了实现精确的位置跟踪,在滑模控制中引入自适应律来补偿模型的不确定性。采用连续逼近函数减小固有滑模抖振,采用非线性鲁棒反馈解决负载力的不确定性。因此,针对具有不确定性的隧道掘进机刀盘伸缩系统,提出了一种新型ASMC,可以提高其跟踪精度,减少滑模抖振。据作者所知,首次提出了一种具有不确定性的隧道掘进机刀盘伸缩系统控制方法。所提出的控制方法不仅在控制精度上有效,而且在参数不确定度上也有效。
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引用次数: 0
3D SLAM based on NDT matching and ground constraints for ground robots in complex environments 基于无损检测匹配和地面约束的复杂环境下地面机器人三维SLAM
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2022-08-24 DOI: 10.1108/ir-05-2022-0128
Yilong Jiang, Ting Wang, Shiliang Shao, Lebing Wang
PurposeIn large-scale environments and unstructured scenarios, the accuracy and robustness of traditional light detection and ranging (LiDAR) simultaneous localization and mapping (SLAM) algorithms are reduced, and the algorithms might even be completely ineffective. To overcome these problems, this study aims to propose a 3D LiDAR SLAM method for ground-based mobile robots, which uses a 3D LiDAR fusion inertial measurement unit (IMU) to establish an environment map and realize real-time localization.Design/methodology/approachFirst, we use a normal distributions transform (NDT) algorithm based on a local map with a corresponding motion prediction model for point cloud registration in the front-end. Next, point cloud features are tightly coupled with IMU angle constraints, ground constraints and gravity constraints for graph-based optimization in the back-end. Subsequently, the cumulative error is reduced by adding loop closure detection.FindingsThe algorithm is tested using a public data set containing indoor and outdoor scenarios. The results confirm that the proposed algorithm has high accuracy and robustness.Originality/valueTo improve the accuracy and robustness of SLAM, this method proposed in the paper introduced the NDT algorithm in the front-end and designed ground constraints and gravity constraints in the back-end. The proposed method has a satisfactory performance when applied to ground-based mobile robots in complex environments experiments.
目的在大规模环境和非结构化场景下,传统的激光探测与测距(LiDAR)同步定位与制图(SLAM)算法的精度和鲁棒性降低,甚至可能完全无效。为了克服这些问题,本研究旨在提出一种基于地面移动机器人的3D LiDAR SLAM方法,该方法利用3D LiDAR融合惯性测量单元(IMU)建立环境地图并实现实时定位。设计/方法/方法首先,我们使用基于局部地图的正态分布变换(NDT)算法和相应的运动预测模型在前端进行点云配准。其次,将点云特征与IMU角度约束、地面约束和重力约束紧密耦合,在后端进行基于图的优化。随后,通过增加闭环检测来减小累积误差。使用包含室内和室外场景的公共数据集对该算法进行了测试。结果表明,该算法具有较高的精度和鲁棒性。为了提高SLAM的精度和鲁棒性,本文提出的方法在前端引入无损检测算法,在后端设计地面约束和重力约束。将该方法应用于复杂环境下的地面移动机器人实验,取得了满意的效果。
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引用次数: 1
Design of wireless in-pipe inspection robot for image acquisition 用于图像采集的无线管道检测机器人设计
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2022-08-23 DOI: 10.1108/ir-02-2022-0043
Kunlun Wu, H. Sang, Yan Xing, Yao Lu
PurposePipeline robots are often used in pipeline non-destructive testing. Given the need for long-range in-pipe inspections, this study aims to develop a wireless in-pipe inspection robot for image acquisition.Design/methodology/approachIn this paper, an in-pipe robot with a new mechanical system is proposed. This system combines a three-arm load-bearing structure with spring sleeves and a half-umbrella diametric change structure, which can ensure the stability of the camera when acquiring images while maintaining the robot’s flexibility. In addition, data were transmitted wirelessly via a system that uses a 433 MHz ultra-high frequency and wireless local-area network–based image transmission system. Software and practical tests were conducted to verify the robot’s design. A preliminary examination of the robot’s cruising range was also conducted.FindingsThe feasibility of the robot was demonstrated using CATIA V5 and MSC ADAMS software. The simulation results showed that the centre of mass of the robot remained in a stable position and that it could function in a simulated pipeline network. In the practical test, the prototype functioned stably, correctly executed remote instructions and transmitted in near real-time its location, battery voltage and the captured images. Additionally, the tests demonstrated that the robot could successfully pass through the bends in a 200-mm-wide pipe at any angle between 0° and 90°. In actual wireless network conditions, the electrical system functioned for 44.7 consecutive minutes.Originality/valueA wheeled wireless robot adopts a new mechanical system. For inspections of plastic pipelines, the robot can adapt to pipes with diameters of 150–210 mm and has the potential for practical applications.
目的管道机器人常用于管道无损检测。考虑到管道内远程检测的需要,本研究旨在开发一种用于图像采集的无线管道内检测机器人。设计/方法/方法本文提出了一种具有新型机械系统的管道机器人。该系统结合了带弹簧套的三臂承重结构和半伞式变径结构,在保证摄像机获取图像时的稳定性的同时保持机器人的灵活性。此外,数据通过一个系统进行无线传输,该系统使用433 MHz超高频和基于无线局域网的图像传输系统。通过软件和实际测试验证了机器人的设计。对机器人的巡航范围也进行了初步检查。利用CATIA V5和MSC ADAMS软件对机器人的可行性进行了验证。仿真结果表明,该机器人的质心处于稳定位置,能够在模拟管网中工作。在实际测试中,样机工作稳定,能正确执行远程指令,并能近乎实时地传输其位置、电池电压和捕获的图像。此外,测试表明,该机器人可以成功地通过一个200毫米宽的管道,在0°和90°之间的任何角度的弯道。在实际无线网络条件下,电气系统连续运行44.7分钟。轮式无线机器人采用了一种全新的机械系统。对于塑料管道的检测,机器人可以适应直径为150-210毫米的管道,具有实际应用的潜力。
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引用次数: 2
Enhanced DWA algorithm for local path planning of mobile robot 移动机器人局部路径规划的改进DWA算法
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2022-08-16 DOI: 10.1108/ir-05-2022-0130
Xin Lai, Dan Wu, Di Wu, Jia He Li, Hang Yu
PurposeThe purpose of this study is to solve the problems of poor stability and high energy consumption of the dynamic window algorithm (DWA) for the mobile robots, a novel enhanced dynamic window algorithm is proposed in this paper.Design/methodology/approachThe novel algorithm takes the distance function as the weight of the target-oriented coefficient, and a new evaluation function is presented to optimize the azimuth angle.FindingsThe jitter of the mobile robot caused by the drastic change of angular velocity is reduced when the robot is closer to the target point. The simulation results show that the proposed algorithm effectively optimizes the stability of the mobile robot during operation with lower angular velocity dispersion and less energy consumption, but with a slightly higher running time than DWA.Originality/valueA novel enhanced dynamic window algorithm is proposed and verified. According to the experimental result, the proposed algorithm can reduce the energy consumption of the robot and improves the efficiency of the robot.
为了解决移动机器人动态窗口算法(DWA)稳定性差、能耗高的问题,本文提出了一种新的增强动态窗口算法。该算法以距离函数作为目标导向系数的权重,提出了一种新的评价函数来优化方位角。发现角速度剧烈变化引起的移动机器人抖动在机器人靠近目标点时减小。仿真结果表明,该算法有效地优化了移动机器人在运行过程中的稳定性,具有较低的角速度色散和较少的能量消耗,但运行时间略高于DWA。提出并验证了一种新的增强动态窗口算法。实验结果表明,所提出的算法可以降低机器人的能耗,提高机器人的工作效率。
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引用次数: 9
Improved A* algorithm and model predictive control- based path planning and tracking framework for hexapod robots 改进的A*算法和基于模型预测控制的六足机器人路径规划与跟踪框架
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2022-08-04 DOI: 10.1108/ir-01-2022-0028
Zelin Wang, F. Gao, Yue Zhao, Yunpeng Yin, Liangyu Wang
PurposePath planning is a fundamental and significant issue in robotics research, especially for the legged robots, since it is the core technology for robots to complete complex tasks such as autonomous navigation and exploration. The purpose of this paper is to propose a path planning and tracking framework for the autonomous navigation of hexapod robots.Design/methodology/approachFirst, a hexapod robot called Hexapod-Mini is briefly introduced. Then a path planning algorithm based on improved A* is proposed, which introduces the artificial potential field (APF) factor into the evaluation function to generate a safe and collision-free initial path. Then we apply a turning point optimization based on the greedy algorithm, which optimizes the number of turns of the path. And a fast-turning trajectory for hexapod robot is proposed, which is applied to path smoothing. Besides, a model predictive control-based motion tracking controller is used for path tracking.FindingsThe simulation and experiment results show that the framework can generate a safe, fast, collision-free and smooth path, and the author’s Hexapod robot can effectively track the path that demonstrates the performance of the framework.Originality/valueThe work presented a framework for autonomous path planning and tracking of hexapod robots. This new approach overcomes the disadvantages of the traditional path planning approach, such as lack of security, insufficient smoothness and an excessive number of turns. And the proposed method has been successfully applied to an actual hexapod robot.
路径规划是机器人研究中的一个基础和重要问题,特别是对于有腿机器人来说,路径规划是机器人完成自主导航、自主探索等复杂任务的核心技术。本文的目的是提出一种六足机器人自主导航的路径规划和跟踪框架。首先,简要介绍了一种名为hexapod - mini的六足机器人。然后提出了一种基于改进a *的路径规划算法,该算法将人工势场(artificial potential field, APF)因子引入到评估函数中,生成安全无碰撞的初始路径;然后应用基于贪心算法的拐点优化,优化路径的匝数。提出了一种六足机器人的快速转弯轨迹,并将其应用于路径平滑。此外,采用基于模型预测控制的运动跟踪控制器进行路径跟踪。仿真和实验结果表明,该框架能够生成安全、快速、无碰撞、平滑的路径,笔者设计的六足机器人能够有效地跟踪该路径,验证了该框架的性能。提出了一种六足机器人自主路径规划和跟踪的框架。该方法克服了传统路径规划方法缺乏安全性、平滑性不足、转弯数过多等缺点。该方法已成功应用于实际的六足机器人。
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引用次数: 1
Design and locomotion analysis of a close-chain leg-wheel mobile platform 链式腿轮移动平台的设计与运动分析
IF 1.8 4区 计算机科学 Q2 Engineering Pub Date : 2022-07-19 DOI: 10.1108/ir-02-2022-0046
Xiang-Ming Fan, Q. Ruan
PurposeTo take the advantages of terrain-adaptive capability of legged platform and fast-moving ability of wheeled platform, this paper aims to design a leg-wheel mobile platform for obstacle surmounting and analyze the feasibility and locomotivity of different moving modes.Design/methodology/approachThe platform consists of six leg-wheel units. Each of the units has a close-chain mechanical leg and an actuated wheel at the end of the leg. The platform moves with two modes: legged mode and leg-wheel composite mode. The legged mode achieves high mobility driven by crank motors, while the leg-wheel composite mode achieves obstacle-surmounting ability actuated by crank motors and pitch link motors and obtains high efficiency with the hub motors. The gait planning in different modes has been carried out and the obstacle-surmounting capacity has been analyzed.FindingsBased on the results of kinematic analysis and gait planning of the close-chain leg-wheel platform, the high mobility and efficiency obstacle-surmounting ability are demonstrated with the two movement modes. The feasibility of the design and the performance of the mobile platform is verified with the prototype experiment. The results of this paper show that the platform possesses good obstacle-surmounting capability.Originality/valueThe work presented in this paper is a novel exploration to design a close-chain leg mechanism and with an actuated wheel in series. The close-chain leg mechanism has the advantages of high leg lift and single degree of freedom characteristics, which makes the platform obtain the ability of obstacle-surmounting.
目的利用腿式平台的地形适应能力和轮式平台的快速移动能力的优势,设计一种腿轮式移动越障平台,并分析不同移动方式的可行性和机动性。设计/方法/方法该平台由六个腿轮单元组成。每个单元都有一个链式机械腿,在腿的末端有一个驱动轮。平台有两种运动模式:腿式运动模式和腿轮复合运动模式。腿式模式通过曲柄电机驱动实现高机动性,腿轮复合模式通过曲柄电机和俯仰连杆电机驱动实现越障能力,通过轮毂电机实现高效率。进行了不同模式下的步态规划,并分析了其越障能力。结果基于对链腿轮平台的运动学分析和步态规划结果,验证了两种运动模式具有高移动性和高效越障能力。通过样机实验验证了设计的可行性和移动平台的性能。结果表明,该平台具有良好的越障能力。本文提出的工作是一个新颖的探索,设计一个封闭链腿机构和一个驱动轮串联。闭式链腿机构具有高腿升程和单自由度的特点,使平台获得了越障能力。
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引用次数: 1
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Industrial Robot-The International Journal of Robotics Research and Application
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