SIA OpenIR  > 空间自动化技术研究室
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)
Department空间自动化技术研究室
Conference Name2016 IEEE International Conference on Mechatronics and Automation
Conference DateAugust 7-10, 2016
Conference PlaceHarbin, China
Source PublicationProceedings of 2016 IEEE International Conference on Mechatronics and Automation
PublisherIEEE Computer Society
Publication PlacePiscataway, NJ, USA
2016
Pages244-248
Indexed ByEI ; CPCI(ISTP)
EI Accession number20164202921728
WOS IDWOS:000387187800045
Contribution Rank1
ISBN978-1-5090-2396-7
KeywordHead Robot Object Tracking Redundant Robot Virtual Link Damped Least-squares
AbstractAccording 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19195
Collection空间自动化技术研究室
Corresponding AuthorWan MH(宛敏红)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
Recommended Citation
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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