检索结果-南通市图书馆

Gait planning and intelligent control for a quadruped robot

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

控制理论与应用（英文版） 2009年第2期7卷 207-211页

作者： Baoping WANG Renxi HU Xiaodong ZHANG chuangfeng huai Department of Mechanical and Electronic Engineering Guangdong Baiyun University Guangzhou Guangdong 510450 China Department of Basic Courses Ordnance Engineering College Shijiazhuang Hebei 050003 China School of Mechanical and Electronic Control Engineering Beijing Jiaotong University Beijing 100044 China

We present a method for designing free gaits for a structurally symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. The robot＇s virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. The deliberative-based controller can generate flexible sequences of leg transferences while maintaining walking speed, and choose optimum foothold for moving leg based on integration data of exteroceptive terrain profile. Simulation results are presented to show the gait＇s efficiency and system＇s stability in adapting to an uncertain terrain.

关键词： Structural symmetry Quadruped robot Gait planning Intelligent control Virtual model

Balance recovery control for biped robot based on reaction null space method

在线全文

学校读者我要写书评

暂无评论

控制理论与应用（英文版） 2009年第1期7卷 87-91页

作者： Baoping WANG Renxi HU Jinming ZHANG chuangfeng huai Department of Mechanical and Electronic Engineering Guangdong Baiyun University Guangzhou Guangdong 510450 China Department of Basic Courses Ordnance Engineering College Shijiazhuang Hebei 050003 China School of Mechanical and Electronic Control Engineering Beijing Jiaotong University Beijing 100044 China

A biped walking robot should be able to keep balance even in the presence of disturbing forces. This paper presents a step strategy concept of biped walking robot that is stabilized by using reaction null space method. The called ＂step strategy＂ can be modeled by means of the reaction null space method that introduced earlier to tackle dynamic interaction problems of free-floating robots, or moving base robots in general. 6-DOF biped robot model simulations are used to confirm the validity.

关键词： Biped robot Balance recovery control Reaction null space Step strategy

Research on Trajectory Planning and Simulation of Vehicle Exterior Wall Grinding Robot

在线全文

学校读者我要写书评

暂无评论

Research on Trajectory Planning and Simulation of Vehicle Ex...

Design and Kinematics of a Novel Three DOF Parallel Manipulator

第30届中国控制与决策会议

作者： chuangfeng huai Gangyi Shi School of Mechanical and Vehicle Engineering East China Jiaotong University

At present, the domestic locomotive exterior wall putty layer grinding is still using manual mode of operation, this article locomotive vehicle putty layer automation dust-free grinding system based on grinding robot actual work space size, and the working space of the selected robotic arm of ABB-IRB-6660-205/1.9 is calculated by statistical simulation *** kinematics equation of the grinding robot is established by D-H coordinate transformation method, and the positive and negative solutions of the robot are obtained. On the basis of kinematics, the 5-Lagrangian interpolation polynomial method is used to simulate the motion path of the grinding robot. Using the Robot Tool toolbox in Matlab, the displacement, velocity and acceleration of each joint of the robot are simulated and simulated. It provides the theoretical basis and reference for the research on the dynamics of the motorcycle body grinding robot, the complex space trajectory, the motion control algorithm and the obstacle avoidance of the robot.

关键词： Trajectory Planning Simulation Vehicle Exterior Wall Grinding Robot

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

Design and Kinematics of a Novel Three DOF Parallel Manipula...

Robust State Feedback H_∞Control for Dynamic Biped Robot Based on T-S Fuzzy Model

2005国际机械工程与力学会议

作者： Ketao ZHANG Yuefa FANG chuangfeng huai Department of Mechanical Engineering Beijing Jiaotong University

A novel 3-DOF parallel manipulator is presented that can be found in a cube paper fold, based on the concept of mechanisms. The parallel manipulator consists of a base plate, a movable platform, and four connecting legs. The moving platform has three degrees of freedom, which are two degrees of rotational freedom and one degree of translational freedom, with respect to the base plate. Each of the connecting leg contains a closed-loop subchain, which is symmetrical six-bar spherical metamorphic mechanism. The new parallel manipulator is very interesting for the reason of only revolute joint architecture, identical limb kinematic chain and symmetrical structure. The configuration design of the new parallel manipulator is introduced. The concept of generalized kinematic pair and screw theory are applied to the mobility analyses of the novel parallel manipulator. And the analysis results provide information on motion characteristics of the parallel manipulator. The inverse and forward kinematics problems are described. The proposed manipulator has a wide application in the fields of industrial robots, simulators, micro-motion manipulators, and parallel kinematics machines.

关键词： parallel manipulator metamorphic mechanism screw theory Mobility kinematics

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

武汉理工大学学报 2006年第S3期28卷 951-955页

作者： huai chuangfeng FANG Yuefa (Department of Mechanical Engineering,Beijing Jiaotong University,Beijing 10044,E-mall: hcf811225@***) Department of Mechanical Engineering Beijing Jiaotong UniversityBeijing 10044China

T-S fuzzy model was applied to describe nonlinear system and global fuzzy model was expressed by the form of uncertain *** on robust state feedback H_∞control strategy,designed a global asymptotic steady fuzzy *** control system can use the experimental input-output data pairs for the biped robot learning and walking with dynamic *** is proved by simulation result that robust state feedback H_∞control method based on T-S fuzzy model can effectively restrain the effect of model uncertainties and external disturbance acting on biped *** these works,we showed the satisfactory performance of joint tracking without any chattering.

关键词： robust H_∞control state feedback T-S fuzzy model biped walking robot fuzzy system

在线全文

学校读者我要写书评

暂无评论

双足机器人的鲁棒自适应复合控制器设计

中国机械工程 2008年第7期19卷 834-837页

作者：槐创锋方跃法郭盛北京交通大学北京100044

针对复杂机器人对象,充分考虑系统的各种不确定因素,在不确定保守上界己知情况下,设计了全局稳定的鲁棒自适应复合控制器。控制器设计在确保高品质控制的同时,避免或减少了参数漂移、保守鲁棒增益及控制系统抖振等问题,从理论与实际的... 详细信息

针对复杂机器人对象,充分考虑系统的各种不确定因素,在不确定保守上界己知情况下,设计了全局稳定的鲁棒自适应复合控制器。控制器设计在确保高品质控制的同时,避免或减少了参数漂移、保守鲁棒增益及控制系统抖振等问题,从理论与实际的角度提高了控制器的鲁棒性和实用性。仿真实验验证了提出优化方法的有效性,而且机器人能在一定范围外力的干扰下回复稳定姿态步行。

关键词：双足机器人系统抖振鲁棒自适应控制不确定保守上界参数漂移

在线全文

学校读者我要写书评

暂无评论

基于自适应网络的动态双足机器人模糊控制

北京交通大学学报 2008年第1期32卷 108-111页

作者：槐创锋方跃法郭盛北京交通大学机械与电子控制工程学院北京100044

提出一种基于步态规划分级结构的自适应网络模糊推理系统控制策略,该方法不需要确定双足机器人运动学和动力学模型.以一种动态双足机器人为例,建立机器人的Sugeno模糊模型,对机器人系统的不确定上界进行自适应参数估计,采用自适应控制... 详细信息

提出一种基于步态规划分级结构的自适应网络模糊推理系统控制策略,该方法不需要确定双足机器人运动学和动力学模型.以一种动态双足机器人为例,建立机器人的Sugeno模糊模型,对机器人系统的不确定上界进行自适应参数估计,采用自适应控制器逼近未知不确定界,解决了一类非线性系统的稳定控制问题.控制器的设计只要求不确定性满足匹配条件,而无需知道不确定界,能够处理不确定参数变化范围更广的情况,减少控制系统设计中的保守性.设计的分级控制系统可以学习试验的输入输出数据,从而在动态平衡下进行行走.同时,模糊控制器的进一步在线学习能力可以显著地改善步行机器人的动态性能.

关键词：双足机器人自适应网络参数估计模糊控制动态步行

利用约束螺旋理论综合的空间对称2-DOF并联机构

在线全文

学校读者我要写书评

暂无评论

中国机械工程 2014年第18期25卷 2506-2510页

作者：刘平安槐创锋胡长锋华东交通大学南昌330013

首先按运动功能对两自由度空间并联机构进行分类,得到了空间2Ryz型(绕y轴和z轴转动)和1Rz1Tz型(绕z轴转动和沿z轴移动)的两自由度机构;给出了两类并联机构的分支约束螺旋系和机构约束螺旋系,以及保证所有分支约束螺旋的合成是期望的机... 详细信息

首先按运动功能对两自由度空间并联机构进行分类,得到了空间2Ryz型(绕y轴和z轴转动)和1Rz1Tz型(绕z轴转动和沿z轴移动)的两自由度机构;给出了两类并联机构的分支约束螺旋系和机构约束螺旋系,以及保证所有分支约束螺旋的合成是期望的机构约束螺旋系的几何条件。对这两种空间并联机构运用约束螺旋综合理论进行系统的型综合,得到了可实现连续运动的具有绕定平台平面内两轴转动的并联机构以及沿着定平台法线方向移动和绕其转动的两自由度并联机构;得到了两自由度并联机构各种类型的分支链结构,以及两类机构的结构约束特性。将少自由度对称并联机构类型由原来的9类扩充到11类,丰富了机构类型。

关键词：约束螺旋理论机构型综合对称并联机构两自由度并联机构

在线全文

学校读者我要写书评

暂无评论

基于激光扫描技术的打磨工具精准对位

激光与光电子学进展 2020年第23期57卷 289-296页

作者：槐创锋黄升黄涛尚鲁强华东交通大学机电与车辆工程学院江西南昌330013

针对机车自动化打磨系统对位不精准、打磨厚度不均匀的问题,提出了一种基于激光扫描技术的打磨工具中轴线对位打磨点法线方向的算法。首先,计算线激光传感器扫描获取的待打磨件三维模型法向量,并将6种获取法线的算法进行对比,用效果最... 详细信息

针对机车自动化打磨系统对位不精准、打磨厚度不均匀的问题,提出了一种基于激光扫描技术的打磨工具中轴线对位打磨点法线方向的算法。首先,计算线激光传感器扫描获取的待打磨件三维模型法向量,并将6种获取法线的算法进行对比,用效果最优的算法计算模型上各点的法线坐标;然后,通过手眼标定使法线坐标与打磨工具中轴线坐标可相互转换,并利用离线编程使两者实现精准对位;最后,建立打磨模型,计算理想的打磨厚度,测量精准对位和未精准对位的打磨厚度。实验结果表明,与未精准对位的算法相比,本算法能很好地解决打磨厚度不均匀的问题,且打磨结果与理想效果接近。

关键词：激光技术自动化打磨精准对位法线识别打磨厚度