Advanced Materials Research Vols. 201-203

Abstract: For flocking task of multiple mobile robots (MMR for short), the paper establishes a multi-objective optimization model and studies a solving method based on game theory. According to evolutionary game theory and taking the dynamic variability of gaming behaviors into account, it proposes a method based on evolutionary game model by using evolutionary rules “In success, commit oneself to the welfare of the society; in distress, maintain one‘s own integrity ”. Then, the paper performs researches on path coordination and obtains the optimum non-collision coordinated paths of flocking task for MMR. The simulation results show that the evolutionary game method can effectively solve coordinated path planning problem for multiple robots. By contrast with Nash equilibrium game model and coalition cooperative game model through computation results, the paper illustrates that the evolutionary game model is the best.

Abstract: For a novel 3SPS+1PS parallel manipulator with 4 degrees of freedom including three rotations and one translation, the formulae for solving the inverse kinematics equations are derived based on quaternion method. Unit quaternion is used to represent the position and orientation of moving platform, and the singularities caused by Euler angles are avoided. Combining the topological structure characteristics of the parallel manipulator, it only has three rotations when its moving platform is at a given translation position. Based on the inverse position/pose equations and the all the constraints of the parallel manipulator, the discrete algorithm for the orientation workspaces of 3SPS+1PS parallel manipulator where the moving platform is at some different given translation positions are designed. The research builds the theoretical basis for optimizing the orientation workspace with given position.

Abstract: A critical problem for swarm robotics cooperative control is to determine appropriate consensus algorithms so that a group of robots can reach consensus on the values of coordination data. In this paper, we defined the Information Interactive Graph ( IIG ) and the Information Interactive Matrix ( IIM ) to represent the information interaction relationship between each robot based on algebra graph theroy. Proofed the necessary and/or sufficient conditions for consensus and presented some consensus algorithms under static topology. Finally, simulation results showed that our algorithm can make a swarm of robots reach a consensus on the shared coordination data.

Abstract: Aiming at the existing problem of cleaning the inner barrel hard, a new portable barrel-scrubbing robot was designed and researched. First of all, the working principle and scrubbing mode of this robot were described. Secondly, the main modules of this robot were designed and its control system was constructed. Finally, a developed prototype of this robot was introduced, and the robot’s motion function was validated through some experiments.

Abstract: This paper is dedicated to self-handcraft an inexpensive, however, anthropomorphic robot face on the viewpoint of ryodoraku craftsmanship instead of the traditionally engineering viewpoint. Generally speaking, artificial emotions can be categorized into three stages. i.e., the preliminary abstraction, secondary expressionism, and advanced anthropomorphism. In this paper, biomimetic material is fabricated and mixed with the hypodermic mechanisms. Dynamic analysis and computer simulation of the inventive mechanisms are proposed to simplify the mechatronic design of each artificial module on the self-fabricated robot head. Thus, delicate variations of the facial emotions can dramatically spiritualize the humanoid robot with passionate scenarios. Finally, the ryodoraku simulations with PTZ(pen-tilt-zoom) dynamics are carefully examined and successfully demonstrated the advantages of the proposed innovation.

Abstract: The pose accuracy of robot manipulators has long become a major issue to be considered in its advanced application. An efficient methodology to generate the end-effector position and orientation error model of robotic manipulator has been proposed based on the differential transformation matrix theory. According to this methodology, a linear error model that described the end-effector position and orientation errors due to robot kinematics parameters errors has been presented. A computer program to generate the error model and perform the accuracy analysis on any serial link manipulator has been developed in MATLAB. This methodology and software are applied to the accuracy analysis of a Phantom Desktop manipulator. The positioning error of the manipulator in its workspace cross section (XOZ) has been plotted as 3D surface graph and discussed.

Abstract: To meet the requirements of forming complex and hard-to-bend orthodontic wires’, this paper proposes to use MOTOMAN UP6 for the bending operation and develops the finite point extension method for robotic trajectory planning. The inputs of this method are the key points including the midpoints, endpoints and the position of the offset of an orthodontic wire. The dichotomy is adopted to search the ratio of chord length to arc length and the area surrounded by the chord and arc of adjacent key points. The number and positions of the controlled points are determined accordingly based on the required accuracy. The MATLAB is applied to calculate the angle of bending at each control point from the perspective of rebound elasticity. After the control points’ message was obtained, the experiment is developed and shown that the finite point’s extension method can be used to plan the trajectory of robotic bending operation with an improved accuracy and efficiency in comparison with current manual practice.

Abstract: This paper develops an intelligent braking system (IBS) to navigate escaping motions of wheeled robots with variable center of gravity. The piecewise mapping in geometric space instead of the traditionally pointwise coordinate transformation in algebraic space is developed for quasi-nonholonomic systems in the topological point of view. The escaping dynamics of wheeled robots, not only onto the constrained space but also onto the unconstrained space, occurs when the vehicle escapes from the constraint manifold during braking or cornering. Traditionally, such slippage phenomenon is usually ignored because of strong nonlinear features. The proposed IBS consists of a traditional controller designed for the “rigid” subsystem and an IBS controller designed for the “softened” subsystem. This paper is primarily focused on modeling, analysis and control issues of intelligent braking problems for moving robots with variable center of gravity. Finally, computer simulations of wheeled robots are carefully made under the assumption of Coulomb’s viscous friction to justify the advantages of the proposed IBS algorithm.

Abstract: In the fields of auto-control, the requirement for dependability and intelligence of the instrument is often to be considered seriously. Since the capability of the electronic sensor and affect of the ambient temperature, the high dependability and intelligence is a hard aim to be reached. And the error through normal methods to design may be very large. The intelligence is poor. The article introduces the project process of making an Intelligent Electric Mini-car with high dependability and intelligence: which is consisted of SCM (single-chip microcomputer) SPCE061A, multiple kinds of sensors and some modules to support. Base on the SCM SPCE061A, the mini-car can identify different voice, record & play, race intellectually by the order of voice, dodge the barriers automatically and measure the distance accurately while running at different speed by introducing the PWM and the HALL speed sensor. At the same time, it has radar of backing a car, GPS (Global Position System) and the ability to detect alcohol in a motorman. To enhance the function of the mini-car, radiogram, MTV and LED of kinds of color is added, too. With the information displayed on the LCD and the voice register, it is easier to communicate with the mini-car. With the separate of circuit of controlling and electromotor, the stability of the system has improved. It has made good use of power to adopt 3.3V for the switch circuit and high efficiency PWM. Under the control of the voice order, it also can detect the real time and temperature meticulously. The project is adopting intelligent sensor and new SCM, which combined the multiple kinds of new intelligent electronic device, not only to measure the data for the system accurately, but also to communicate with us. At last the actual data of speed and distance is given to prove the feasibility of the project.

Abstract: The technology of mobile robot is an important branch in robot research. In order to endow robot with capacity of intelligent control and autonomous navigation, and solve the problems such as high cost and large power consumption, a range positioning system based on ultrasonic sensor for intelligent mobile robot is designed in this paper. The system makes robot achieve some functions such as alarming, obstacle avoidance and the positioning.