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机器人串联弹性关节驱动器的刚度控制方法 期刊论文
信息与控制, 2019, 卷号: 48, 期号: 3, 页码: 364-371
Authors:  林光模;  赵新刚;  韩建达;  刘光军
View  |  Adobe PDF(2533Kb)  |  Favorite  |  View/Download：21/2  |  Submit date：2019/08/04
串联弹性驱动器  刚度控制  人机协作  
气动人工肌肉拮抗关节的力与刚度独立控制 期刊论文
机器人, 2018, 卷号: 40, 期号: 5, 页码: 587-596
Authors:  张道辉;  赵新刚;  韩建达;  马红阳;  张弼
View  |  Adobe PDF(6159Kb)  |  Favorite  |  View/Download：133/23  |  Submit date：2018/09/03
气动人工肌肉  拮抗关节  刚度控制  滑模控制  
Contact Force Control of an Aerial Manipulator in Pressing an Emergency Switch Process 会议论文
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, Spain, October 1-5, 2018
Authors:  Meng XD(孟祥冬);  He YQ(何玉庆);  Li Q(李琦);  Gu F(谷丰);  Yang LY(杨丽英);  Yan TF(闫腾飞);  Han JD(韩建达)
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Force Feedback Control of a Robotic Needle Insertion into Layered Soft Tissues 会议论文
Proceedings of the 2018 25th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2018, Stuttgart, Germany, November 20-22, 2018
Authors:  Yang TW(杨唐文);  Xiao, Lifang;  Chen PF(陈盼飞);  Zhu, Haifeng;  Zhao XG(赵新刚);  Song GL(宋国立);  Han JD(韩建达);  Xu WL(徐卫良)
View  |  Adobe PDF(257Kb)  |  Favorite  |  View/Download：32/9  |  Submit date：2019/03/09
robotic needle insertion  force feedback control  wavelet transform  boundaries identification  layered tissue  
Force-Sensorless Contact Force Control of an Aerial Manipulator System 会议论文
Proceedings of the 2018 IEEE International Conference on Real-time Computing and Robotics, Kandima, Maldives, August 1-5, 2018
Authors:  Meng XD(孟祥冬);  He YQ(何玉庆);  Wang QH(王骞翰);  Yan TF(闫腾飞);  Han JD(韩建达)
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Closed-loop control of bevel-tip needles based on path planning 期刊论文
Robotica, 2018, 卷号: 36, 期号: 12, 页码: 1857-1873
Authors:  Huo BY(霍本岩);  Zhao XG(赵新刚);  Han JD(韩建达);  Xu WL(徐卫良)
View  |  Adobe PDF(555Kb)  |  Favorite  |  View/Download：89/13  |  Submit date：2018/09/30
Medical Robotics  Bevel-tip Needle  Particle Swarm Optimization  Path Planning  Ukf  
The Optimum Design of Torsional Spring for Series Elastic Actuator 会议论文
2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017, Hawaii, USA, July 31 - August 4, 2017
Authors:  Lin GM(林光模);  Zhao XG(赵新刚);  Han JD(韩建达);  Zhao YW(赵忆文)
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Series Elastic Actuator  Sea  Spring Optimization Design  Spiral Dynamics Algorithm  
Design and control of a novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function 期刊论文
INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, 2017, 卷号: 13, 期号: 1, 页码: 1-14
Authors:  Li YM(李言民);  Liu H(刘浩);  Hao SW(郝思文);  Han JD(韩建达);  Yang YS(杨云生)
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Gastroscope Intervention Mechanism  Circumferential Clamping  Critical Slipping Force  Shear Stiffness  Fuzzy Pid Control  
Vibration control of a pneumatic driven piezoelectric flexible manipulator using self-organizing map based multiple models 期刊论文
MECHANICAL SYSTEMS AND SIGNAL PROCESSING, 2016, 卷号: 70-71, 页码: 345-372
Authors:  Zhao, Zhili;  Qiu ZC(邱志成);  Zhang XM(张宪民);  Han JD(韩建达)
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Pneumatic Drive  Piezoelectric Flexible Manipulator  Vibration Control  Self-organizing Map  Variable Damping Pole-placement  
Path-tracking control of bevel-tip needles using Model Predictive Control 会议论文
2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016, Auckland, New zealand, April 22-24, 2016
Authors:  Huo BY(霍本岩);  Zhao XG(赵新刚);  Han JD(韩建达);  Xu WL(徐卫良)
View  |  Adobe PDF(590Kb)  |  Favorite  |  View/Download：136/29  |  Submit date：2016/08/23
Bevel-tip Needle  Path-tracking  Mpc  Pso