Huang Xinhan

Research on Vacuum Micro-Gripper of Intelligent Micromanipulation Robots

This paper presents a new vacuum micro-gripper (as an actuator of the micromanipulator) for using in micro-assembly tasks. The gripper is able to pick and place 100-300um sized targets. The micro-gripper consists of a vacuum unit and a control unit. With a proportional valve as a pressure adjuster and a pressure sensor as a pressure detector, the vacuum unit has a simple structure. With a PC as the upper layer controller and a MCU as the bottom layer controller, the control unit has two-layered control architecture. The necessary conditions to realize pick, hold and place operations are derived by comparing the forces acting on micro-targets. For solving the difficulty of place a micro-target, a controller based on fuzzy logic is designed to control the working pressure accurately. With MATLABs Fuzzy Logic Toolbox, simulation experiments are performed to validate the performance of the fuzzy PD controller

Implementation of a PC-based Robot Controller with Open Architecture

The demand for increased capability and flexibility has led to a dramatic increase in the use of controllers based on open architecture. Knowledge from past research on open architecture system indicates that a component-based philosophy should be the solution. In this paper, a PC-based open architecture robot control system is presented and the technologies related to component-ware are investigated. By assembling controller from off-the-shell hardware and software components, the benefits of reduced cost and improved robustness have been realized. CORBA is exploited in software development to ensure the extensibility, scalability and portability of the software. Finally, by applying to the Movemaster-EX robot, the performance of the system is evaluated

Neuro-fuzzy and model-based motion control for mobile manipulator among dynamic obstacles

This paper focuses on autonomous motion control of a nonholonomic platform with a robotic arm, which is called mobile manipulator. It serves in transportation of loads in imperfectly known industrial environments with unknown dynamic obstacles. A union of both procedures is used to solve the general problems of collision-free motion. The problem of collision-free motion for mobile manipulators has been approached from two directions, Planning and Reactive Control. The dynamic path planning can be used to solve the problem of locomotion of mobile platform, and reactive approaches can be employed to solve the motion planning of the arm. The execution can generate the commands for the servo-systems of the robot so as to follow a given nominal trajectory while reacting in real-time to unexpected events. The execution can be designed as an Adaptive Fuzzy Neural Controller. In real world systems, sensor-based motion control becomes essential to deal with model uncertainties and unexpected obstacles.

Multi-sensor data fusion structures in autonomous systems: a review

This paper presents the recent achievements in multi-sensor data fusion structure research for autonomous systems and also analyzes the characteristics and application ranges with different types of data fusion structures. A new fusion-control structure used in assembly robot systems is also proposed in the paper.

A precision robotic system for 3-D Micro-Assembly

A type of robotic system for 3-D precision Micro-assembly was described, which can be used to assemble the micro Inertial confinement fusion (ICF) target which was made up of two Half-hohlraum (diameter:800μm∼1000μm, length:1mm) and a capsule (diameter:200μm∼500μm). The system structure and composing were described, and the key technology was introduced too. A new kinds of piezoelectric micro-gripper was developed in this robotic system. The assembly experimental results verify the position accuracy of capsule in the hohlraum is less than 10 μ m.

Delay-dependent exponential stability of uncertain stochastic systems with time-varying delay and nonlinearities

This paper deals with the problem of delay-dependent exponential stability in the mean square for a class of uncertain stochastic systems with time-varying delay and nonlinearities. By using Lyapunov-Krosovskii functional method combined with linear matrix inequalities (LMIs) techniques, some new delay-dependent stability criteria in terms of LMIs are derived by introducing some free weighting matrices which can be selected properly to lead to less conservative results. Maximum allowable delay bound (MADB) to guarantee the exponential stability of the systems can be obtained effectively by solving a set of LMIs. Numerical example and simulation are given to show that the proposed methods are effective and are much less conservative than some existing results.