【标题】Underwater motion control of a bio-inspired father-son robot based on hydrodynamics analysis
【参考中译】基于流体动力学分析的仿生父子机器人水下运动控制
【类型】 期刊
【关键词】 Father-son robot; Spherical underwater robot; Hydrodynamic analysis; Motion control strategy
【参考中译】 父子机器人；球形水下机器人；水动力分析；运动控制策略
【作者】 Ruochen An; Shuxiang Guo; Chunying Li; Tendeng Awa
【摘要】 The traditional underwater sample collection task is performed by an underwater vehicle equipped with a rigid multi-link arm, which has caused great interference. In this paper, a bio-inspired father-son robot is designed and developed for sample acquisition. Underwater motion control of the father-son robot is of vital importance, especially when it needs to work underwater. At first, we focused on developing a novel father-son system to perform an underwater sample acquisition task. The hydrodynamics analysis of the father robot is finished using FLUENT to obtain the relationship between water resistance and the speed of the underwater robot. After that, the control strategy of thrust from the thrusters is proposed using kinematical analysis of the underwater robot, according to the difference between the current depth and the target depth. Simulation and experiments verify the effectiveness of the proposed motion control strategy.
【参考中译】 传统的水下样品采集任务是由装有刚性多连杆臂的水下机器人来完成的，这造成了很大的干扰。本文设计并开发了一种仿生父子机器人，用于样本采集。父子机器人的水下运动控制是至关重要的，特别是当它需要在水下工作时。首先，我们专注于开发一种新型的父子系统来执行水下样本采集任务。利用FLUENT软件对父机器人进行了水动力学分析，得到了水阻力与水下机器人速度之间的关系。然后，通过对水下机器人的运动学分析，根据当前深度与目标深度的差异，提出了推进器推力的控制策略。仿真和实验验证了所提出的运动控制策略的有效性。
【来源】 International Journal of Mechatronics and Automation 2022, vol.9, no.4
【入库时间】 2023/6/29
【标题】Visual servoing based self-calibration of robotic inspection system using rigid body transformation parameters
【参考中译】基于视觉伺服的机器人检测系统刚体变换参数自标定
【关键词】 Steam generator tube inspection robot; Rigid body parameters; Damped least squares inverse kinematics; Kinematic errors; Pattern matching; Visual servoing
【参考中译】 蒸汽发生器管子检测机器人；刚体参数；阻尼最小二乘逆运动学；运动学误差；模式匹配；视觉伺服
【作者】 S. Joseph Winston; P. V. Manivannan
【摘要】 Calibration plays a vital role in maintaining the positing accuracy of the deployable type of industrial robots. A fully automatic deployable type of robotic manipulator has been developed for inspecting the steam tubes of a steam generator (SG). It uses damped least squares-based kinematic algorithm to position the tube inspection probe exactly over the centre of individual steam-tubes and pushes probe into the tube for detecting any flaws. As direct global referencing is not possible inside the space constrained SG, a novel robot calibration methodology has been developed that uses vision data for recognising the reference V-patterns of the steam tubes arrangement through a vector approach. Robotic arm kinematic errors are corrected using rigid body parameters estimation by exploiting the joint motor encoders used for sensing the pose. Further, using visual servoing technique, high order positioning accuracy of inspection probe has been achieved to reach every steam tube centre for inspection.
【参考中译】 标定对保持可展开型工业机器人的定位精度具有重要作用。研制了一种用于蒸汽发生器(SG)蒸汽管道检测的全自动可展开机械手。它采用基于阻尼最小二乘的运动学算法，将管道探头精确定位在单个蒸汽管道的中心，并将探头推入管道内，以检测任何缺陷。由于在空间受限的蒸汽发生器内不可能直接进行全局参考，因此开发了一种新的机器人校准方法，该方法使用视觉数据通过向量法识别蒸汽管道布置的参考V形图案。通过利用用于感知姿态的关节电机编码器，使用刚体参数估计来校正机械臂的运动学误差。此外，利用视觉伺服技术，实现了探头的高精度定位，可以到达每个蒸汽管道中心进行检测。
【标题】Trajectory tracking of 4-DOF robot manipulator: a bond graph approach
【参考中译】四自由度机械手轨迹跟踪的键合图法
【关键词】 4-DOF robotic arm; Position control; GRBL controller; Bond graph approach; Simulink; Pick and place
【参考中译】 四自由度机械臂；位置控制；GRBL控制器；键合图法；SIMULINK；拾取与放置
【作者】 Rajmeet Singh; Manvir Singh Lamba; Tarun Kumar Bera
【摘要】 This research work presents the design of a position control algorithm for trajectory tracking of a four-degree-of-freedom robotic manipulator. The linkage mechanism of the manipulator is based on a parallelogram mechanism and in this manipulator, three parallelogram mechanisms are used. First, the CAD and the kinematic model of the manipulator are developed. The bond graph (BG) approach is applied to develop the dynamic model of the robotic arm based on kinematic equations. The BG model of parallelogram linkage is then compared with the Simulink model of parallelogram linkage and results are validated. Then, a position control algorithm is proposed to follow a set of trajectory planning applications. A GRBL-Arduino based controller is used to estimate the position of the end-effector as per the user's requirements. The simulation and experimentation work are performed for 3D trajectory tracking applications. The robotic arm is used for pick and place operation within the workspace.
【参考中译】 设计了一种用于四自由度机械臂轨迹跟踪的位置控制算法。该机械手的连杆机构是基于平行四边形机构的，在该机械手中使用了三个平行四边形机构。首先建立了机械手的计算机辅助设计和运动学模型。应用键合图(BG)方法建立了基于运动学方程的机械臂动力学模型。然后将平行四边形连杆机构的BG模型与SIMULINK的平行四边形连杆机构模型进行了比较，验证了结果。然后，针对一系列轨迹规划应用，提出了一种位置控制算法。基于GRBL-Arduino的控制器用于根据用户S的要求估计末端执行器的位置，针对三维轨迹跟踪应用进行了仿真和实验工作，机械臂用于工作空间内的拾取和放置操作。