Advanced Materials Research Vols. 694-697

Abstract: The design and implementation of intelligent auto-tracing robot based on MCU control technology are introduced. Camera is used in the robot for walking path automatic identification, controlling of walking along with the fixed line, stopping and steering.

Abstract: In the paper a high-speed and high-precision three-axis parallel robot was studied as the research object and a kind of extension controller used for the control system was established. Seeing properties that the adaptive controller is good at dealing with the same and slowly time-varying problem and extension controller is good at dealing with time-varying and mutation problem. The advantages of the two kinds of controllers were combined and a new type of extension adaptive controller was developed. The simulation results show that the extension adaptive controller can greatly improve end implementation tracking precision of the parallel robot and satisfy the robot control requirements. The methods have broad prospect in application of the parallel robot control.

Abstract: The manipulator with the characteristics of strong coupling, non-linear and time-varying. According to those, the article researched the manipulator properties through dynamics and SPMSM speed regulation mechanical property, calculating the torques through Lagrange equation and transferring to relative current equations, then bringing out the manipulator servo control method based on SVPWM and high gain current feedback. Thus, the joints controls are simplified to independent joints servo motors control, realizing the high dynamic manipulator control. Finally, the validation of this method is verified by setting up the experimental platform with SPMSM and ZX165U manipulator.

Abstract: This paper focuses on the structural model and gait of a quadruped robotic horse. Based on the analysis of real horse’s skeleton, a structural model of quadruped robotic horse is proposed, and an equation for the robot’s inverse kinematics calculation is derived. Next, motion planning for robot’s swing legs is performed and the gait of this quadruped robotic horse is developed. In addition, the feasibility of stable walking using the proposed model is confirmed by simulation. Finally, a mini quadruped robotic horse based on the proposed model is manufactured. The stable walking gait of the quadruped robotic horse can be realized through an actual walking experiment.

Abstract: Autonomous underwater vehicle (AUV) has become effective equipment in exploring and researching oceanic resources. Due to the limitation of the loading capacity of energy, the working ability of AUV is restricted. In this paper, we optimized the structure and hydrodynamics of the landing AUV II to improve the endurance. By decreasing diameter and increasing length, the resistance of the vehicle can be decreased with the same displacement. Although this may sacrifice the maneuverability, the vehicle is verified to have approving attitude controllability. In order to reduce landing impact, the AUV is conducted to dive to the predetermined depth close to seabed via controlling the attitude and then open water intake valves to get weight and land on sea bottom. Moreover, with the establishment of the dynamic model, the maneuverability and dynamic stability is analyzed and the equilibrium rudder angle is calculated. Sea trial indicates that the AUV could fulfill bottom-sitting and depth-setting exploration successfully.

Abstract: The robustness of an autonomous robotic vehicle (ARV) and the embedded supporting architecture permit the investigation of a wide spectrum of research options for particle removal and cleaning apparatus. Applications for particle removal are aimed at supporting the autonomous vehicle in performing its mission, especially in areas considered hazardous, hence emphasize the importance of the embedded system in which the development of air and water jet nozzle is being introduced. By understanding the present basic theory and design methodology, this would capture the outline for future developments of the novelty in particle removal methods especially in an autonomous robotic vehicle (ARV). Accordingly, it can be ascertained that at the same time the main line of the research on particle removal methods remains clear, still in a correspondence research context it is relatively easy to identify alternative subjects which are worthwhile to investigate further.

Abstract: PD control method is widely utilized for the dynamic characteristics controlling in industrial robot manipulator area. The disturbance is usually uncertain in reality; the traditional PD controller is limited in that case. In this paper, a PD robust controller is introduced to optimize the convergence and stability of PD controller and avoid the extreme initial driving torque for two-link manipulator system. Using the co-simulation on Matlab/ Simulink and ADAMS, the paper designs a PD robust controller under uncertain upper bound disturbance and completes track control and driving torque simulation trial. The superiority of the two-link manipulators PD robust controller is verified through result comparison and analysis.

Abstract: Obstacle avoidance is an important content in the research of redundant manipulator. To automate spraying for inner surface in a complex curved pipe, its a challenge to plan collision-free trajectory for the manipulator. A hybrid planning algorithm based on genetic algorithm and pseudo-inverse method is presented in this paper. Firstly, the collision problem between the manipulator and curved pipe is simplified to collision detection problem between polyhedron. The manipulator joints are represented by bounding volumes, and the curved pipe is deemed to polyhedron. Secondly, in the hybrid genetic algorithm, the initial population is obtained by using the pseudo-inverse method, by establishing the distance relationship between the vertices of the bounding volume and its cross-sectional plane polygon. The fitness function is constructed to evaluate the collision situation between the manipulator and pipe. Via the continuous evolution of the population, the collision-free trajectory is obtained finally.

Abstract: As robots are employed in various fields of manufacturing process, its modeling and analysis is an important process during robot design. Therefore, based on simulation technology, a multi-degree of freedom (DOF) robot arm manipulator simulation and visualization platform is proposed due to the DOF of the joints on a robot differs in specific projects. The Denavit Hartenberg (DH) parametric scheme is adopted in the workspace analysis and relative position computation model. The latter calculates the distance and position between the end-effector and the target. And then, a test case using the platform is presented, the results showed that the platform is feasible for robot design.

Abstract: Wheeled robot walk because of its simple structure,continuous advantages of smooth, fast and easy to control, is often used as special robot, but wheeled robot at run time, facing one of the major issues is how to avoid obstacles, increase system reliability. Introduction of fuzzy control algorithm in this article, by rational design of fuzzy rules, plan routes, to achieve effective avoidance, collision of the simulation results show that the fuzzy control can be effective, improves the reliability of robots running.