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Mechatronic Design of a Humanoid Head Robot
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
会议录名称Proceedings of 2016 IEEE International Conference on Mechatronics and Automation
出版者IEEE Computer Society
出版地Piscataway, NJ, USA
2016
页码244-248
收录类别EI ; CPCI(ISTP)
EI收录号20164202921728
WOS记录号WOS:000387187800045
产权排序1
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
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19195
专题空间自动化技术研究室
通讯作者Wan MH(宛敏红)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
推荐引用方式
GB/T 7714
Wan MH,Fu ML,Zhang HW,et al. Mechatronic Design of a Humanoid Head Robot[C]. Piscataway, NJ, USA:IEEE Computer Society,2016:244-248.
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