Mechatronic Design of a Humanoid Head Robot

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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)
	2016
会议日期	August 7-10, 2016
会议地点	Harbin, China
关键词	Head Robot Object Tracking Redundant Robot Virtual Link Damped Least-squares
页码	244-248
英文摘要	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.
产权排序	1
会议录	Proceedings of 2016 IEEE International Conference on Mechatronics and Automation
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-5090-2396-7
WOS记录号	WOS:000387187800045
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/19195]
专题	沈阳自动化研究所_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. Mechatronic Design of a Humanoid Head Robot[C]. 见:. Harbin, China. August 7-10, 2016.