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题名: Mechatronic Design of a Humanoid Head Robot
作者: Wan MH(宛敏红); Fu ML(付明亮); Zhang HW(张会文); Zhou WJ(周维佳)
作者部门: 空间自动化技术研究室
会议名称: 2016 IEEE International Conference on Mechatronics and Automation
会议日期: August 7-10, 2016
会议地点: Harbin, China
会议录: Proceedings of 2016 IEEE International Conference on Mechatronics and Automation
会议录出版者: IEEE Computer Society
会议录出版地: Piscataway, NJ, USA
出版日期: 2016
页码: 244-248
收录类别: EI
ISBN号: 978-1-5090-2396-7
关键词: head robot ; object tracking ; redundant robot ; virtual link ; damped least-squares
摘要: According to the requirement of high precision and dexterous visual tracking system for the humanoid robot, a development of three degrees of freedom head robot is proposed, and the design principle is described in detail. The modular joint design method is adopted to reduce the complexity of the mechanism design effectively, and the control principle of the double closed loop of the joint is also described. The visual perception module is composed of a laser range finder camera and two CCD cameras, and the sensors fusion algorithm is used to get the target position. The distributed control system is constructed based on the EtherCAT bus. On the basis of the hardware design, the robot kinematics equation is set up, and studied is the visual tracking control strategy by use of the Damped Least-Squares Method for the redundant mechanism to avoid robot singularity. Experimental results show that the head robot proposed in this paper can track dynamic target accurately and dexterously, and the control method is effective.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/19195
Appears in Collections:空间自动化技术研究室_会议论文

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Recommended Citation:
Wan MH,Fu ML,Zhang HW,et al. Mechatronic Design of a Humanoid Head Robot[C]. 见:2016 IEEE International Conference on Mechatronics and Automation. Harbin, China. August 7-10, 2016.
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文件名: Mechatronic Design of a Humanoid Head Robot.pdf
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