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Vision-based Stabilization of Nonholonomic Mobile Robots by Integrating Sliding-mode Control and Adaptive Approach

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Chinese Journal of Mechanical Engineering 2013年第1期26卷 21-28页

作者： CAO Zhengcai YIN Longjie fu yili College of Information Science and Technology Beijing University of Chemical Technology The State Key Laboratory of Robotics and Systems Harbin Institute of Technology

Vision-based pose stabilization of nonholonomic mobile robots has received extensive attention. At present, most of the solutions of the problem do not take the robot dynamics into account in the controller design, so that these controllers are difficult to realize satisfactory control in practical application. Besides, many of the approaches suffer from the initial speed and torque jump which are not practical in the real world. Considering the kinematics and dynamics, a two-stage visual controller for solving the stabilization problem of a mobile robot is presented, applying the integration of adaptive control, sliding-mode control, and neural dynamics. In the first stage, an adaptive kinematic stabilization controller utilized to generate the command of velocity is developed based on Lyapunov theory. In the second stage, adopting the sliding-mode control approach, a dynamic controller with a variable speed function used to reduce the chattering is designed, which is utilized to generate the command of torque to make the actual velocity of the mobile robot asymptotically reach the desired velocity. furthermore, to handle the speed and torque jump problems, the neural dynamics model is integrated into the above mentioned controllers. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, the simulation of the control law is implemented in perturbed case, and the results show that the control scheme can solve the stabilization problem effectively. The proposed control law can solve the speed and torque jump problems, overcome external disturbances, and provide a new solution for the vision-based stabilization of the mobile robot.

关键词： nonholonomic mobile robots vision-based stabilization sliding-mode control adaptive control neural dynamics

Ultrasound-guided prostate percutaneous intervention robot system and calibration by informative particle swarm optimization

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Frontiers of Mechanical Engineering 2022年第1期17卷 18-33页

作者： Jiawen YAN Bo PAN yili fu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Applying a robot system in ultrasound-guided percutaneous intervention is an effective approach for prostate cancer diagnosis and *** limited space for robot manipulation restricts structure volume and *** this paper,an 8-degree-of-freedom robot system is proposed for ultrasound probe manipulation,needle positioning,and needle insertion.A novel parallel structure is employed in the robot system for space saving,structural rigidity,and collision *** particle swarm optimization method based on informative value is proposed for kinematic parameter identification to calibrate the parallel structure *** method identifies parameters in the modified kinematic model stepwise according to parameter *** experiments prove that the robot system can realize motions needed in *** applying the calibration method,a reasonable,reliable forward kinematic model is built,and the average errors can be limited to 0.963 and 1.846 mm for insertion point and target point,respectively.

关键词： ultrasound image guidance prostate percutaneous intervention parallel robot kinematics identification particle swarm optimization informative value

Development of a novel hand-eye calibration for intuitive control of minimally invasive surgical robot

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Frontiers of Mechanical Engineering 2022年第3期17卷 91-108页

作者： Yanwen SUN Bo PAN yili fu State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin150001China

Robotic-assisted surgical system has introduced a powerful platform through dexterous instrument and hand-eye coordination intuitive *** knowledge of laparoscopic vision is a crucial piece of information for robot-assisted minimally invasive surgery focusing on improved surgical *** the transformation with respect to the laparoscope and robot slave arm frames using hand-eye calibration is essential,which is a key component for developing intuitive control *** proposed a novel two-step modified dual quaternion for hand-eye calibration in this *** dual quaternion was exploited to solve the hand-eye calibration simultaneously and powered by an iteratively separate *** obtained hand-eye calibration result was applied to the intuitive control by using the hand-eye coordination *** simulations and experimental studies were conducted to evaluate the proposed method on our surgical robot *** extensively compared the proposed method with state-of-the-art *** demonstrate this method can improve the calibration *** effectiveness of the intuitive control algorithm was quantitatively evaluated,and an improved hand-eye calibration method was *** relationship between laparoscope and robot kinematics can be established for intuitive control.

关键词： minimally invasive surgery hand-eye calibration intuitive control surgical robot dual quaternion

General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of exponential model

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Frontiers of Mechanical Engineering 2022年第2期17卷 85-101页

作者： Tao SONG Bo PAN Guojun NIU Jiawen YAN yili fu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechanical Engineering and Automation Zhejiang Sci-Tech UniversityHangzhou 310018China

The inverse kinematics problems of robots are usually decomposed into several Paden–Kahan subproblems based on the product of exponential model. However, the simple combination of subproblems cannot solve all the inverse kinematics problems, and there is no common approach to solve arbitrary three-joint subproblems in an arbitrary postural relationship. The novel algebraic geometric (NAG) methods that obtain the general closed-form inverse kinematics for all types of three-joint subproblems are presented in this paper. The geometric and algebraic constraints are used as the conditions precedent to solve the inverse kinematics of three-joint subproblems. The NAG methods can be applied in the inverse kinematics of three-joint subproblems in an arbitrary postural relationship. The inverse kinematics simulations of all three-joint subproblems are implemented, and simulation results indicating that the inverse solutions are consistent with the given joint angles validate the general closed-form inverse kinematics. Huaque III minimally invasive surgical robot is used as the experimental platform for the simulation, and a master–slave tracking experiment is conducted to verify the NAG methods. The simulation result shows the inverse solutions and six sets given joint angles are consistent. Additionally, the mean and maximum of the master–slave tracking experiment for the closed-form solution are 0.1486 and 0.4777 mm, respectively, while the mean and maximum of the master–slave tracking experiment for the compensation method are 0.3188 and 0.6394 mm, respectively. The experiments results demonstrate that the closed-form solution is superior to the compensation method. The results verify the proposed general closed-form inverse kinematics based on the NAG methods.

关键词： inverse kinematics Paden-Kahan subproblems three-joint subproblems product of exponential closed-form solution

Study on the Manufacturability Evaluation Based on Double-layer Model of Manufacturing Resources

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High Technology Letters 2001年第2期7卷 61-65页

作者：石旭东 fu yili Dai Yong Ma Yulin Advanced Manufacturing Technology Center Harbin Institute of Technology

Virtual organization is a new production patter and a principal part in advanced manufacturing systems such as agile manufacturing. Manufacturability evaluation is the necessary condition to form the virtual organization. A new manufacturability evaluation approach is described in this paper, which is carried out based on every process feature under the double-layer model of manufacturing resources proposed by authors. The manufacturing resources that build up the virtual organization are selected according to the results of manufacturability evaluation.

关键词： Manufacturability evaluation Double-layer model of manufacturing resources Virtual organization

Avoiding obstacles by using a proximity infrared sensor skin

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High Technology Letters 2007年第2期13卷 126-130页

作者：曹政才 fu yili Wu Qidi Wang Shuguo Wang Guangguo CIMS Research Center Tongji University Shanghai 200092 P.R. China Robotics Institute Harbin Institute of Technology Harbin 150001 P.R. China

Placement and wiring of vast amount of sensor elements on the 3-dimensionally configured robot sur-face to form soft sensor skin is very difficult with the traditional technology. In this paper we propose a new method to realize such a *** implanting infrared sensors array in an elastic body, we obtain an elastic and tough sensor skin that can be shaped *** developed sensor skin is a large-area, flexi-ble array of infrared sensors with data processing *** on the skin electronics, it en-dows its carrier with an ability to sense its *** structure, the method of infrared sensor sig-nal processing, and basic experiments of sensor skin are presented. The validity of the infrared sensor skin is investigated by preliminary obstacle avoidance trial.

关键词： robot sensor skin infrared sensor obstacle avoidance

Study on  Chart Based on Short Production Run

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High Technology Letters 2001年第2期7卷 58-60页

作者：付宜利 Yang Xu Ma Yulin Yang Xiaohui Advanced Manufacturing Technology Center Harbin Institute of Technology Changchun Institute of Optics and Fine Mechanics

High intellectual, high flexible automatic manufacturing system based on low volume production is the trend in the future, but the traditional control charts whose control limits are based on at least 20～25 subgroups of five observations each are not suitable in this environment. The paper presents variance control chart used in small batch production in which there are not sufficient observations. The control limits are set reliably without restriction of the number of samples.

关键词： Study on Chart Based on Short Production Run

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腹腔微创机器人远心定位机构优化设计

机器人 2016年第3期38卷 285-292页

作者：牛国君潘博付宜利哈尔滨工业大学机器人技术与系统国家重点实验室黑龙江哈尔滨150001

提出一种新型的三角形远心定位机构用于腹腔微创手术,该机构简单,刚度高.为得到综合性能较优的三角形远心定位机构,提出了一种新型的多目标优化模型,该模型中包含4个优化目标函数:全局运动学性能指标、机构紧凑性指标、全局刚度综合性... 详细信息

提出一种新型的三角形远心定位机构用于腹腔微创手术,该机构简单,刚度高.为得到综合性能较优的三角形远心定位机构,提出了一种新型的多目标优化模型,该模型中包含4个优化目标函数:全局运动学性能指标、机构紧凑性指标、全局刚度综合性能指标和全局动力学性能指标;3个约束条件:工作空间约束、机构参数约束和质量约束;2个设计变量:2个关节之间夹角.应用非支配遗传算法求解多目标优化问题.根据优化结果建立了三角形远心定位机构实物模型.实验验证了该三角形远心定位机构的有效性.

关键词：微创机器人远心定位机构多目标优化非支配遗传算法

形状记忆合金驱动导管机器人的动力学仿真研究

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高技术通讯 2010年第5期20卷 499-504页

作者：付宜利颜增翼刘浩哈尔滨工业大学机器人技术与系统国家重点实验室哈尔滨150080

研究了由骨架弹簧和形状记忆合金(SMA)螺旋弹簧组成的柔性导管机器人的动态特性。基于导管力学模型、SMA的本构和传热方程,系统地提出了一套完整的建模方法。由于SMA具有滞回和饱和等强非线性属性,传统的比例积分微分(PID)控制方法用于... 详细信息

研究了由骨架弹簧和形状记忆合金(SMA)螺旋弹簧组成的柔性导管机器人的动态特性。基于导管力学模型、SMA的本构和传热方程,系统地提出了一套完整的建模方法。由于SMA具有滞回和饱和等强非线性属性,传统的比例积分微分(PID)控制方法用于导管机器人中很难获得精确的控制效果,因此针对性地设计了参数自整定模糊PID控制器。仿真结果验证了模型的正确性,并显示出模糊PID对这种结构具有良好的控制效果。这种建模和控制方法,为单个SMA弹簧驱动导管机器人的实际应用和多驱动器的导管机器人的控制研究奠定了基础。

关键词：形状记忆合金(SMA) 导管机器人弯曲角度滞回非线性模糊PID