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A new kind of ball tensegrity robot is researched. Firstly, build up mathematical model of ball tensegrity robot with its node matrix and member matrices. Based on the relationships between the nodes and members, the connectivity matrices are introduced. Then members can be expressed by connectivity matrix and node matrix. Under given external load, system equilibrium functions are set up, and we...
A novel multi-pulses technology with unequal space to enhance SNR of pulse laser radar is proposed in this letter. Traditional multi-pulses technology employing equal spaces multi-pulses always leads to many outputs once the time window has pulses no matter the number of pulses, which is difficult to identify which one is the main pulse we want to get. Thus we propose a method using unequal spaces...
This paper presents a speed and flux estimation method for speed control of three-phase AC motors in robot manipulators. Furthermore, we find how to combine the speed and flux estimation method with the control algorithm of the speed and flux using artificial neural network (ANN) to enhance the performance of AC motors when there are uncertain parameters in the motor's dynamic model such as rotor...
In order to solve the problems of complex calculation and uncontrolled accuracy in dynamic model of flexible manipulator, a new method of building dynamic model is proposed based on a new model with springs and rigid bodies. According to this method, manipulator is simplified as some rigid bodies connected by springs. So new dynamic model is built by Lagrange equation with added elastic energy which...
This paper proposes a new method of linear inverted pendulum control, which is used to control the quadruped robot walking on regular uneven terrain such as ramp and stair, furthermore, this method can be applied to a more rugged terrain. This paper analyzes the dynamic parameters of a quadruped robot walking on the complex terrain, which means the supporting points of the robot lie in different heights...
A sub-optimal guidance and nonlinear control scheme based on Optic Flow (OF) cues ensuring soft lunar landing using two minimalistic bio-inspired visual motion sensors is presented here. Unlike most previous approaches, which rely on state estimation techniques and multiple sensor fusion methods, the guidance and control strategy presented here is based on the sole knowledge of a minimum sensor suite...
In order to realize the stabilization and the tracking performance of MIS (minimally invasive surgical) robot control system in the presence of uncertainty in the system dynamics, the linearization of the MIS tele-operation system model is processed firstly. Furthermore, the robust control problem is formulated as a robust state feedback stabilization problem subject to parameter uncertainties and...
To improve the efficiency of multi legged climbing robot, a dynamic climbing gait is proposed for a gecko inspired mechanism with a pendular waist and linear legs (GPL). Then, a mathematical model is built and the kinetics of the climbing gait is illustrated. Trajectory of the waist, identical to centroid of the GPL model, is also discussed in this paper. The forces at the feet of GPL are calculated,...
The catheter based minimally-invasive closure of the left atrial appendage for stroke prevention can be realized by placing foldable structures in the heart with the help of a catheter. As a platform for the development and the evaluation of new devices, a phantom was developed that allows to perform the intervention under realistic imaging conditions. The centerpiece of the phantom is an anatomical...
This paper presents a novel method based on the velocity disturbance to control the locomotion of a snake-like robot. The inputs are joint torques which are derived from the dynamics equations. The traditional dynamics equations of a snake-like robot are complex, so a simplified dynamics equations are firstly derived based on the differential geometry theory. Then the velocity disturbance is introduced...
A nature snake changes its gaits in different environment, so it is important for a snake-like robot to have more available gaits for a higher adaptability. In this paper, a novel snake-like robot is proposed to verify the motion fusion of rectilinear gait and serpentine gait. At first, the two gaits ant their fusions are analyzed and modeled. Then, the robot mechanism is designed to realize these...
A new robust lane marking detection algorithm for monocular vision is proposed. It is designed for the urban roads with disturbances and with the weak lane markings. The primary contribution of the paper is that it supplies a robust adaptive method of image segmentation, which employs jointly prior knowledge, statistical information and the special geometrical features of lane markings in the bird's-eye...
Current robotic manipulation techniques for optical tweezers assume that the trapping stiffness of optical trap is constant and exactly known. In addition, the dynamic interaction between the cell and the manipulator of laser source is usually ignored in the analysis of the optical manipulation problem. In this paper, a control scheme is proposed for optical manipulation of biological cell with unknown...
This paper addresses the forward kinematic model (FKM) of a continuum manipulator, namely the Compact Bionic Handling Assistant (CBHA). This model is an essential step in the design of an autonomous robot control. The CBHA is considered as a concatenation of three degrees of freedom (DoF) parallel robot with 3UPS-1UP (Universal-Prismatic-Spherical) joint structure along the backbone. A mathematical...
Tumbler system is a self-stabilized platform and its mechanical structure and premium stability properties can be used for designing coaxial helicopters without using stabilizer bar or flyer bar. The advantage of adopting a tumbler structure in coaxial helicopters is that it will replace traditional stabilizer bar or flyer bar to greatly stabilize flying attitude as well to reduce the structure complexity...
The present generation of surgical tools is reliant on drills and cutting tools that cannot navigate through small corners present in complex bones such as the spinal column. This paper summarizes the development of a flexible robotic surgical system to be used in minimally invasive spinal surgery (MISS), targeting the removal of cancerous tissue. The cutting system consists of a flexible drill and...
In this paper, a new compliant parallel mechanism driven by piezoelectric actuators is designed, which is a modified structure from our previous designed stage. In order to compensate the limited stroke of PZT, the secondary amplification mechanism was adopted in this design, and also the matrix method is utilized to calculate its stiffness and compliance for this compliant mechanism. In practical...
We present a visual servoing system for the synchronization of a robot with a dynamic rigid body using a particle filter-based state estimator. We experimentally demonstrate its application for robotic loading of parts onto oscillating hangers in an industrial paint line. The particle filter is implemented with a physical dynamical model of the hanger, using the Euler equations for a pendulum with...
In this paper, we consider hysteresis problem which is nonsmooth, nonlinear, and resided in piezoelectric actuators (PEA). A new discrete-time hysteretic model is introduced which is inspired by the famous Bouc-Wen model. We try to fuse the new model with the adaptive control techniques, where the unknown parameters in the model are not needed to be identified. The control algorithm guarantees the...
Many works have been done for controlling nonlinear systems using bio-inspired methods. In this paper, we propose an optimal intelligent controller for an Unmanned Aerial Vehicle (UAV). The controller consists on a type-2 fuzzy system with defuzzifier step was determined through Ant Colony Optimization algorithm (ACO). It is known that, ACO and Particle Swarm Optimization (PSO) algorithm are the most...
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