Applied Mechanics and Materials Vols. 494-495

Abstract: Study a class of automatic control system and use translational plane method, according to a given system robustness requirements, the closed-loop poles of the system is limited to a certain area, making the system not only meet the robustness of the system requirements, but also make closed-loop poles in a certain area, and find the desired controller. Through simulation studies proved the feasibility and effectiveness of the above algorithm.

Abstract: The small underground power transmission Line inspection track robot is developed. The robot is composed of left and right track walking mechanisms driven independently and camera tripod head with better environmental adaptability and flexibility of movement. The robot is controlled by wireless remote control mode. The portable handheld controller is also developed with communication, control, display and storage function. The inspection work experiment at the cable room of 110kV underground substation has been done using this robot. The result indicates that the inspection robot has better flexibility of movement, better reliability of communication and better convenience of operation, which is the better method for underground power transmission Line inspection.

Abstract: A walking-assistant robot guided by the intention and power-driven is presented, its purpose is to provide physical support and walking assistance for the elderly to meet their needs of walking autonomy, friendliness, and maintaining the ability of walking and taking care of themselves. Tactile and slip sensor is selected as the human interface to perceive the users walking intent, and the sensor is also used to detect the user's slip trend. And the paper researches the feature representation and extraction method of tactile and slip signal for driving control pattern recognition. An improved classification and identification method combining K-means in clustering and K-nearest neighbor algorithm in classification is proposed. The paper introduces the overall design schemes of tactile and slip drive control system of walking-assistant robot, perception system, motion control system. Finally the feasibility and effectiveness of the entire system are verified by experiment.

Abstract: Feeding system is an important part of NC machine. In order to overcome the problems of low efficiency and low precision, Motion Control Card is applied in the feeding system of NC machine. In this system PC is selected as the center of the system and Motion Control Card is took in charge of the details of motion controlling. By calling the motion library function software platform which have such characteristics as good accuracy, versatility and flexibility is developed. Finally, it indicates that this system has advantages of high precision, high performance and good economic in practical.

Abstract: According to the problem that the intelligence is not high of the soccer robot, using the mechanical theory as a guide, making some mechanical analyses and calculations on the pressure and transmutation states of chip kick mechanics, and conducting optimal design too, then making the structure of chip kick mechanics more and more rationalization. Experiments show that the new soccer robot controller features a quick response and high servo rigidity, and provide a kind of method for improving and perfecting the soccer robot control system, at the same time, filling the needs of producing.

Abstract: The permanent magnetic rotator of the dynamic gyro is driven by the energized radial and axial coils through the gimbal module. Angle and angle are the significant angles to describe the moving status of the dynamic gyro. By using the magnetism and mechanism principles, the driving torque of the dynamic gyro is figured out, and some important conclusions are provided. If angle, the rotating torque and the period mean procession torque; if angle, an additional torque will be produced to the rotating torque and the procession torque will be very complex. These conclusions are quite useful for controlling the dynamic gyro.

Abstract: A passive-walking of a double-legs planar Robot is considered. The dynamic equation of the system walking down a shallow slope, powered only by gravity is established according to Lagrange method. After the equation was transferred to a dimensionless one, it shows the motion is depended not only on the free parameter, the ramp slope γ, but also on the ratio of m/M, m is mass of the foot of the model and M is the mass of the hip as well; The analytic calculations show that at the identical ramp slope γ, the whole moving has different phases: stable period walking and chaos with the increasing of m/M. Its phase portraits and graph of step time interval show the influence to the motion because of the ratio of m/M.

Abstract: Joint-typical Industrial robots tend to have higher repetitive positioning accuracy and lower absolute positioning accuracy. In order to improve the absolute positioning accuracy of robots, this paper puts forward a compensation algorithm based on the mapping theory combining with the kinematics equation, which establish the connection between the space of off-line programming and teaching-programming, so as to approximate the repeat positioning accuracy. A experiment is implemented to confirm its correctness, and the result shows that the supposed method can improve the absolute positioning accuracy heavily, which the absolute positioning error reduces from 8.32mm to 1.08mm.

Abstract: The RRT algorithm and the heuristic function are combined in the mobile robot path planning, so a novel path planning is proposed. Based on the dynamic model and kinematic constraints of the nonholonomic mobile robot, a trajectory tracking controller is designed. Theory and calculation results prove that, as a new method for mobile robot path planning, the heuristic Rapidly-Exploring Random Tree for nonholonomic mobile robot path planning is feasible and effective.

Abstract: To resolve the problem of mission-based UAV autonomous navigation, flight control system and navigation control system were designed and the navigation method based on finite state rough set theory was adopted. Firstly, the whole process of the mission was divided to get the state transition diagram using the finite state machine model, and then rough set theory was used to reduce the properties and finally a minimal rule set was obtained. The accuracy was proved by the experiment, and the method can meet the requirements of mission-based UAV navigation.