Fu Yili

A robot fuzzy motion planning approach in unknown environments

A fuzzy robot motion planning approach is proposed in unknown environments for three-degree industrial robots. The proposed planning system is composed of several separate fuzzy units, which control individually each manipulator joint. Each unit combines a repelling influence, which is related to the nearby obstacle, with the attracting influence produced by the final manipulator configuration, to generate actuating command for each link. Effectiveness of the proposed approach is verified through simulation.

Real-Time Sensor-Based Motion Planning for Robot Manipulators

In this paper, a sensor-based motion planning method for robot arm manipulators operating among unknown obstacles of arbitrary shape is presented. It can be applied to on-line collision avoidance with no prior knowledge of the obstacles. The sensitive skin is used to build a description of the robot’s surroundings. This approach is based on the configuration space but the construction of the C-obstacle surface is avoided. The motion planning algorithm consists of three phases. In each phase, the point automation moves along a specified plane, on which the mapping of the obstacles into configuration space can be simplified. Hence, the computation time is reduced and the algorithm can work in real time. The effectiveness of the proposed method is verified by a series of simulations.

Mobile robot control based on fuzzy behavior and robot safety body in unknown environment

Based on the analysis of unknown environment for mobile robot, a robot safety body, sensing body and logic body are put forward with the robot physical body together. An open fuzzy behavior-based control architecture is then proposed on the basis of robot safety body for mobile robots in complex and unstructured environments. Many sensors in various kinds are used to localize and navigate with fuzzification on target information, obstacle information and local terrain. Finally, lots of experiments of our mobile robot are carried out in many kinds of man-made complex environments, and the control architecture and the robot safety body with our robot is proved valid, which give a solid support for our further research for mobile robot in unknown environments.

Motion Planning of a Bio-inspired Biped Wall Climbing Robot Stepping over Obstacles Based on Genetic Algorithm

For obstacle stepping over of a bio-inspired biped wall climbing robot,a motion planning algorithm based on genetic algorithm is proposed.By analyzing stability requirements and geometrical constraints of obstacle avoidance in Cartesian space,a fitness function is defined with a weighted coefficient method,so that the stability margin and movement cost can attain integrated optimum to a certain extent.By coding its posture in Cartesian space,a collision-free and highly stable motion sequence for the robot is planned,under the constraints in Cartesian space and joint space.Motion planning of the robot stepping over protruding obstacles is implemented in simulation with the proposed algorithm.Results show that the algorithm can guarantee the stability margin of robot motion and the smoothness of the trajectory.

Parallel layout design of pipeline system for complex products based on ant colony algorithm

The layout design of pipeline system is of great significance for improving the development cycle and quality of complex products. Thus, an optimization approach for the layout design of pipeline system in complex products is presented to address layout problem of pipeline system. In the approach presented, preprocessing model is constructed first, and then the parallel layout design method is proposed based on ant colony algorithm. Finally, simulation test and an example are performed to show effectiveness of the method.

Dynamics and smooth trajectory planning of free floating space robot with zero-disturbance spacecraft attitude

The stability of the spacecraft attitude is very important to the normal work of solar cells and the communication between the system and earth. Therefore a work mode of free floating space robot (FFSR) with zero-disturbance spacecraft attitude is presented; the dynamic equation of FFSR with zero-disturbance spacecraft attitude is derived based on Lagrange method; the smooth and consecutive joint trajectories are designed by adopting a planning method of trigonometric function according to the boundary conditions; the time distribution method of smooth segments to aim at the optimization of joint torques is investigated. The simulation results validate the method proposed, and the outcome sets a good foundation for the motion planning and control of FFSR with zero-disturbance spacecraft attitude.

Signal Processing of Robotic Sensitive Skin Based on DSP+FPGA

Sensitive skin is a new perceptual system for robot. It is mainly used for real-time collision avoidance for robot in unknown environment. The sensor signal will be interfered by the around noises, and it is difficult to meet the requirement of accuracy, real time and stability of the system when using traditional signal processing method. In this paper a novel digital signal processing system based on DSP+FPGA is discussed. The fast Fourier transform (FFT) and periodogram is used for analyzing the signal, and some methods are taken to rectify errors from the limitation of the FFT. The simulation and experiment validate that this method can reduce the effect of noises for system, and can satisfy the real-time collision avoidance for robot

A study of simulation and collision detection techniques of flexible manufacturing cells

A flexible manufacturing cell (FMC) consists of a machining center, robots, transportation devices and computers. In order to enable such a complex cell to run normally, one should examine the kinematical relationship of the components of the devices in the cell, test the accuracy of positioning and working cycles, and find troubles. This paper describes ideas of simulation and collisions detection and avoidance in a flexible manufacturing cell. The techniques of modeling cell collision avoidance and task programming are discussed in the paper.<<ETX>>