The development of the spherical robot to meet requirements high-speed and high-precision tasks is great importance. In this study, a fractional-order adaptive integral hierarchical sliding mode controller (F-AIHSMC) proposed. F-AIHSMC enables have better controlled performance when facing unknown disturbances system chattering, which can seriously affect motion robot. We establish standard dynamic model for linear first, then use feedforward compensation method compensate controllable...

Due to the confined intraocular space and physical constraints in tool manipulation, snake-like robots have a significant potential for use retinal microsurgery. By enhancing dexterity at tip, not only operable on retina can be enlarged, but also delicate target tissues reached an optimal angle minimizing damage making operation much easier. In this study, we present improved version of our earlier integrated snake (IRIS) robot, combine it with another robotic assistant: cooperatively...

Aiming at the recognition and location of noncooperative spacecraft, this paper presents a monocular vision pose measurement method based on solar triangle structure. First all, an autonomous algorithm feature structure sliding window Hough transformation (SWHT) inscribed circle is proposed, image coordinates points can be obtained relying algorithm, combined with P4P calculating relative target expressed by rotation translation matrix. The whole loaded into prewritten onboard program, which...

Model-mediated teleoperation has been developed to improve both transparency and stability in teleoperation. It uses local model of remote environment provide non-delayed force feedback rather than using delayed signals from slave side thus is robust arbitrary time delay. However, updating parameters the may cause sudden change during operation. Meanwhile, undesirable deep penetration or overlarge contact occur on due modeling error. Both them will jeopardize system stability. In this...

A pre-selected minimum distance index is presented considering the real-time performance of dynamic obstacle avoidance for redundant robots.The OBB(oriented bounding box) applied to modeling robot,and safe links are removed by intersection test before calculating distance.The calculated local mapping based calculation method according coordinates objective points.Based on that,avoidance factor and escaping velocity related built then matrix in zero space robots utilized accomplish path...

In this paper, The Kane Dynamics Modeling and solid model by Adams are established for the 5-DOF modular industrial robot. equations derived that Joints practical input parameters dynamics method. modeling is simulated in Matlab Adams. Simulation experiments show models effective typical mission planning executed. By comparing difference of model, Torque-time curve optimizing through two models. And feasible

Self-reconfigurable robot is a complex system composed of multiple modular robots. Aiming at high efficiency and low energy consumption self-reconfigurable configuration transformation, self-reconfiguration strategy based on module mapping the common parts proposed. This describes in form graph, method to determine central node The as starting for comparison different configurations, part between two configurations reserved. Then closest target searched, reconfigured from inside outside with...

Based on joint parameter and robot configuration, the Lagrange Kane dynamics modeling are established for 4-DOF modular industrial in this paper.The planning mission was performed by simulation software.The results shown that model is better than robot.And has execution effect when torque greater.

Augmented reality assembly, is a promising application of virtual in design and manufacturing has drawn much more attentions from industries research institutes. The focus this study are as follows. (1) using the agent-oriented modeling for subassembly object behavior reasoning based on petri net model environment, to build system augmented assembly environment construct percepting mechanism real objects; (2) above mechanism, solve epipolar geometry constraint by least robustness square...

According to the theory of spherical robot which invented by our laboratory, we designed a novel two-wheeled It possesses many salient advantages when compared traditional mobile robots for its special characters, including self-balance, anti-overturn, and rests. Its primary driving-method structure-design arc analyzed optimized in this paper. Moreover, paper, kinematics model has been established analyze moving track robot. In addition, dynamics based on circular-plate built climbing...

This paper presents a trinal branch space robotic manipulator with redundancy, due to hash application environments, such as in the station. One end- effector of can be attached base, and other two controlled accomplish tasks. The permits operation science payload, during periods when astronauts may not present. In order provide theoretic basis for kinematics optimization, dynamics optimization fault-tolerant control, its inverse is analyzed by using screw theory, unified formulation...

We propose an improved Kane dynamic model theory for the 7‐DOF modular robot in this paper, and precision is by function . designed three types of progressive joints reconfigurable that can be used industrial robot, space special robot. The solid are established, respectively, After that, experimental results obtained from simulation experiment typical task established models. By analysis error, equation torque derived proposed. And Based on data, undetermined coefficient matrix five‐order...

This paper reviews the research on upper limb exoskeleton for hemiplegia rehabilitation. Under condition of rehabilitation training mild patients in workspace 7-DOF with uncertain trajectory, a control algorithm used motion detection is carried. In this algorithm, patient's operation can be detected by real-time data collected F/T (Force/Torque) sensors and encoders, so that quantitative assistance will supplied according to intention. Finally, joint simulation ADAMS MATLAB proves accuracy...

The drag coefficient and Magnus are different along with the geometric parameters of target object when calculating simulating trajectory. Generally, coefficients measured in wind-tunnel via repeated experiments, only for which have same shape parameters. This paper proposes a numerical iterative algorithm based on hierarchical optimization method. First, all feasible solutions calculated cost function carry distance. Then gradient was added to get optimal coefficient. In experiment section,...

Vascular interventional surgery has the advantages of small trauma, rapid postoperative recovery, and a high safety factor. It is widely used in treatment various cardiovascular diseases. In order to reduce X-ray radiation exposure doctors, existing vascular robot mainly operated by human teleoperation. Currently, how achieve autonomously intelligent guidewire feeding become an attractive issue for researchers. This paper proposes autonomous wire method based on deep reinforcement learning...

In order to eliminate the influence on immersion and realism for virtual reality simulation system environment, which is resulted from color difference of multi-projector display system, an optimization correction algorithm based projector-camera proposed. It considers non-linear both camera projector. Unlike previous work, where affection was neglected, optimized high Dynamic Range image reconstruction method Pedro's segment a new weighting function are put forward establish mapping...

This paper presents a method for modular robot joint that integrates mechanical part and control system. After the analysis of stress distortion, it sets up matrix model with errors. At same time, PCI adapter DSP servo controller are designed. The characteristics module tested analyzed. main meet design target.

Realizing the virtual manufacturing lies in support of immersive environment, human-computer interactive tools, and software making objects environment is overriding condition manufacturing. Large-format tiled displays are an emerging technology for constructing large scale, high-resolution, semi-immersive visualization environments capable presenting stereo images. A PC-cluster, 220° five-display-channel display system has been built Beijing University Post Communication, a cluster...

Based on the structure of virtual assembly system, a comprehensive survey and analysis recent research in field are given, which include modeling, constraint recognizing solving, collision detection, plans evaluation so on. The future trends presented.