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学者姓名:赵京
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Abstract :
Admittance control of the robot is an important method to improve human-robot collaborative performance. However, it displays poor matching between admittance parameters and human-robot collaborative motion. This results in poor motion performance when the robot interacts with the changeable environment (human). Therefore, to improve the performance of human-robot collaboration, the human-like variable admittance parameter regulator (HVAPR) based on the change rate of interaction force is proposed by studying the human arm's static and dynamic admittance parameters in human-human collaborative motion. HVAPR can generate admittance parameters matching with human collaborative motion. To test the performance of the proposed HVAPR, the human-robot collaborative motion experiment based on HVAPR is designed and compared with the variable admittance parameter regulator (VAPR). The satisfaction, recognition ratio, and recognition confidence of the two admittance parameter regulators are statistically analyzed via questionnaire. Simultaneously, the trajectory and interaction force of the robot are analyzed, and the performance of the human-robot collaborative motion is assessed and compared using the trajectory smoothness index and average energy index. The results show that HVAPR is superior to VAPR in human-robot collaborative satisfaction, robot trajectory smoothness, and average energy consumption.
Keyword :
human-robot collaborative motion human-robot collaborative motion evaluation of human-robot collaborative performance evaluation of human-robot collaborative performance compliant control compliant control human-robot interaction human-robot interaction human-like variable admittance control human-like variable admittance control
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GB/T 7714 | Wang, Chengyun , Zhao, Jing . Based on human-like variable admittance control for human-robot collaborative motion [J]. | ROBOTICA , 2023 , 41 (7) : 2155-2176 . |
MLA | Wang, Chengyun 等. "Based on human-like variable admittance control for human-robot collaborative motion" . | ROBOTICA 41 . 7 (2023) : 2155-2176 . |
APA | Wang, Chengyun , Zhao, Jing . Based on human-like variable admittance control for human-robot collaborative motion . | ROBOTICA , 2023 , 41 (7) , 2155-2176 . |
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Abstract :
Redundant and dual-arm manipulators exhibit good flexibility and excellent cooperation ability, respectively. Therefore, both these manipulators are used to design a redundant dual-chain manipulator with two kinematic chains and a fixed base. In addition, a motion planning method is proposed using a manifold analysis based on the characteristics of this designed manipulator to resolve the difficulty associated with motion planning for a dual-chain manipulator under multiple constraints. Firstly, the paths of the two end-effectors of the dual-chain manipulator are planned synchronously by the Rapidly-exploring Random Tree Star (RRT*) in the Cartesian space. Then, joint trajectories that correspond to the paths are generated by the manifold analysis in the joint space. In this method, the manifold continuity constraint is added to the end-effector path planning of RRT* to ensure that the planned paths have continuous joint trajectories. The joint trajectories are optimised by analysing the performance of the manipulator on the manifolds to improve their motion performance. The prototype experiments of loose coordination and tight coordination are provided in the experimental section; these experiments prove the feasibility and practicability of the motion planning method proposed in this study.
Keyword :
Motion planning Motion planning Self-motion manifolds Self-motion manifolds Redundant dual-chain manipulator Redundant dual-chain manipulator Multiple constraints Multiple constraints
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GB/T 7714 | Zhou, Zhenyong , Zhao, Jing , Zhang, Ziqiang et al. Motion Planning Method of Redundant Dual-Chain Manipulator with Multiple Constraints [J]. | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS , 2023 , 108 (4) . |
MLA | Zhou, Zhenyong et al. "Motion Planning Method of Redundant Dual-Chain Manipulator with Multiple Constraints" . | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 108 . 4 (2023) . |
APA | Zhou, Zhenyong , Zhao, Jing , Zhang, Ziqiang , Li, Xiaohui . Motion Planning Method of Redundant Dual-Chain Manipulator with Multiple Constraints . | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS , 2023 , 108 (4) . |
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Abstract :
A dual-chain manipulator with one fixed base and two kinematic chains is presented in this paper. Aiming at the difficulty of motion planning of dual-chain manipulator, a motion planning method of dual-chain manipulator based on Artificial Bee Colony Algorithm (ABC) is proposed. Firstly, the ABC is used to optimize the initial configuration of the dual-chain manipulator. Then, the end-effector path of the dual-chain manipulator is planned by the Rapidly-Exploring Random Tree Star (RRT*). Finally, the joint trajectory is generated by Gradient Projection Method (GPM) after the initial configuration and end-effector path are determined. In the experimental part, the prototype experiment of the dual-chain manipulator is given, which proves the feasibility of the motion planning method proposed.
Keyword :
Artificial Bee Colony Algorithm Artificial Bee Colony Algorithm collision detection collision detection redundant dual-chain manipulator redundant dual-chain manipulator motion planning motion planning
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GB/T 7714 | Zhou, Zhenyong , Zhao, Jing , Zhang, Ziqiang et al. Motion Planning of Dual-Chain Manipulator Based on Artificial Bee Colony Algorithm [J]. | 2023 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS, ICCAR , 2023 : 55-60 . |
MLA | Zhou, Zhenyong et al. "Motion Planning of Dual-Chain Manipulator Based on Artificial Bee Colony Algorithm" . | 2023 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS, ICCAR (2023) : 55-60 . |
APA | Zhou, Zhenyong , Zhao, Jing , Zhang, Ziqiang , Li, Xiaohui . Motion Planning of Dual-Chain Manipulator Based on Artificial Bee Colony Algorithm . | 2023 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS, ICCAR , 2023 , 55-60 . |
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Abstract :
Single degree-of-freedom (DOF) planar linkage mechanism has been widely used in bio-inspired robots because of its simple control. However, designing a single DOF mechanism to meet the complex motion law of creatures is difficult, and the multiple variables of six-or eight-bar mechanism further increase the design difficulty. A design method of single DOF planar linkage bionic mechanism is proposed in this paper. Through the continuous constraints on the position of all reference points with constraint descent method, the requirements of the bionic mechanism in shape, motion trajectory, and posture are met. As for the mechanism by which reference point coordinates cannot be expressed as the analytical solution of the driving angle, a single DOF mechanism is equivalent to a double DOF mechanism containing additional optimization variables, which further improves the design efficiency. For example, the design process of six-and eight-bar bionic mechanisms is given, confirming the feasibility of the method. Then, the effects of the constraint conditions on the design process are analyzed in detail. This study provides a reference for the design of bio-inspired robots.
Keyword :
Continuous position constraints Continuous position constraints Design method Design method Single DOF Single DOF Planar linkage bionic mechanism Planar linkage bionic mechanism Six-or eight-bar mechanism Six-or eight-bar mechanism
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GB/T 7714 | Zhang, Ziqiang , Zhang, Yong , Zhao, Jing et al. Design method of a single degree-of-freedom planar linkage bionic mechanism based on continuous position constraints [J]. | MECHANISM AND MACHINE THEORY , 2022 , 170 . |
MLA | Zhang, Ziqiang et al. "Design method of a single degree-of-freedom planar linkage bionic mechanism based on continuous position constraints" . | MECHANISM AND MACHINE THEORY 170 (2022) . |
APA | Zhang, Ziqiang , Zhang, Yong , Zhao, Jing , Zhou, Zhenyong . Design method of a single degree-of-freedom planar linkage bionic mechanism based on continuous position constraints . | MECHANISM AND MACHINE THEORY , 2022 , 170 . |
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Abstract :
The adhered mortar attached on the surface of recycled aggregate is the primary difference between recycled aggregate and natural aggregate, and is the major reason for reducing its mechanical properties. To measure the percentage of adhered mortar, an image analysis method (IAM) was presented. First, three comparative specimens were conducted to demonstrate the precision and efficiency of IAM. Further, the actual adhered mortar content was also studied by the heating and cooling method. Then, the effect of recycled aggregate size on the percentage of adhered mortar, and the characteristic of recycled aggregate was explored by IAM. In addition, the type and optimal size of recycled aggregate were also investigated. The obtained data indicated that IAM is an accurate and efficient method to measure the proportion of adhered mortar or other phases; the highest content of adhered mortar was found in recycled aggregate with a size of 10.0-16.0 mm, up to 39.39%; the percentage of the recycled aggregates with a particle size between 16.0 and 20.0 mm should be increased in the mix proportion, which has less adhered mortar content and higher quality recycled aggregate content.
Keyword :
Characteristic of recycled aggregate Characteristic of recycled aggregate Adhered mortar Adhered mortar Image analysis method (IAM) Image analysis method (IAM) Recycled aggregate Recycled aggregate
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GB/T 7714 | Wang, Yao , Liu, Juan , Zhu, Pinghua et al. Investigation of Adhered Mortar Content on Recycled Aggregate Using Image Analysis Method [J]. | JOURNAL OF MATERIALS IN CIVIL ENGINEERING , 2021 , 33 (9) . |
MLA | Wang, Yao et al. "Investigation of Adhered Mortar Content on Recycled Aggregate Using Image Analysis Method" . | JOURNAL OF MATERIALS IN CIVIL ENGINEERING 33 . 9 (2021) . |
APA | Wang, Yao , Liu, Juan , Zhu, Pinghua , Liu, Hui , Wu, Chunyang , Zhao, Jing . Investigation of Adhered Mortar Content on Recycled Aggregate Using Image Analysis Method . | JOURNAL OF MATERIALS IN CIVIL ENGINEERING , 2021 , 33 (9) . |
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Abstract :
The reuse of recycled aggregate concrete (RAC) is being researched all over the world and lots of works are focused on the notched specimen to study the crack path of RAC. A mathematical algorithm of RAC meshing was presented to explore the failure pattern in RAC. According to this algorithm, the interfacial transition zone can be defined to be an actual thickness at the micron level. Further, a new finite element method (FEM) on the complementary energy principle was introduced to simulate the mechanical behavior of RAC's mesostructure. The compliance matrix of the element with any shape can be calculated and expressed to be a uniform and explicit expression. Several numerical models of RAC were established, in which the effecting factors of the prenotch size, thickness of ITZ, and the distance from the prenotch to the aggregate were taken into account. Hereafter, these RAC models were subjected to uniaxial tension. The effect of the aforementioned factors on the crack path was simulated. The simulated data manifest that both the mesh mode of RAC and the FEM on complementary energy principle are effective approaches to explore the failure pattern of RAC. The size of the prenotch, thickness of ITZ, and distance from the prenotch to the recycled aggregate have a powerful influence on the path and distribution of the isolated crack, width and length of the crack path, and the shape and path of continuous cracks, respectively. Copyright © 2021 Yao Wang et al.
Keyword :
Finite element method Finite element method Concretes Concretes Cracks Cracks Recycling Recycling Concrete aggregates Concrete aggregates Failure (mechanical) Failure (mechanical) Aggregates Aggregates
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GB/T 7714 | Wang, Yao , Zong, Gang , Liu, Juan et al. Modeling the failure pattern of prenotched recycled aggregate concrete using FEM on complementary energy principle [J]. | Mathematical Problems in Engineering , 2021 , 2021 . |
MLA | Wang, Yao et al. "Modeling the failure pattern of prenotched recycled aggregate concrete using FEM on complementary energy principle" . | Mathematical Problems in Engineering 2021 (2021) . |
APA | Wang, Yao , Zong, Gang , Liu, Juan , Wu, Chunyang , Xu, Minyao , Zhao, Jing . Modeling the failure pattern of prenotched recycled aggregate concrete using FEM on complementary energy principle . | Mathematical Problems in Engineering , 2021 , 2021 . |
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Abstract :
Serial robots provide an ideal alternative for friction stir welding of large-scale spatial curve welding seam due to their high flexibility and large workspace. However, the low stiffness of a serial robot will definitely affect its welding accuracy. In order to enhance the stiffness of the serial robot in completing friction stir welding tasks, this paper proposes a method of constructing the hybrid stiffness index. This method uses the sigmoid function to process the dexterity or joint limit index and applies it to the stiffness index as a weight coefficient. Then the soft stiffness index with dexterity constraint or joint limit constraint is constructed respectively, and these two hybrid stiffness indices have the same dimension as the stiffness index. Subsequently, the dimension synthesis of the ZK-500 serial robot is completed by maximizing the global soft stiffness index with dexterity constraint. Finally, based on the soft stiffness index with joint limit constraint, a joint trajectory planning algorithm for the ZK-500 robot and positioner system is proposed. The result of simulations shows that the soft stiffness index with a joint limit constraint can not only ensure the stiffness performance but also improve the smoothness of the joint trajectory in the robot trajectory planning task. © 2020 The Society of Manufacturing Engineers
Keyword :
Seam welding Seam welding Trajectories Trajectories Friction stir welding Friction stir welding Robot programming Robot programming Stiffness Stiffness Friction Friction Research laboratories Research laboratories Robots Robots
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GB/T 7714 | Zhao, Jing , Duan, Yaxing , Xie, Biyun et al. FSW robot system dimensional optimization and trajectory planning based on soft stiffness indices [J]. | Journal of Manufacturing Processes , 2021 , 63 : 88-97 . |
MLA | Zhao, Jing et al. "FSW robot system dimensional optimization and trajectory planning based on soft stiffness indices" . | Journal of Manufacturing Processes 63 (2021) : 88-97 . |
APA | Zhao, Jing , Duan, Yaxing , Xie, Biyun , Zhang, Ziqiang . FSW robot system dimensional optimization and trajectory planning based on soft stiffness indices . | Journal of Manufacturing Processes , 2021 , 63 , 88-97 . |
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Abstract :
The existing kinematic synthesis of serial robots generally focuses on configurations with specified degrees-of-freedom (DOFs). This paper proposes a new generation method of configurations based on iteration concepts, defines the concept of a configuration tree, and establishes the tree-evolution kinematic synthesis framework. The configuration tree includes configurations with different DOFs, and the ‘tree’ reflects the configuration relationship. The objectives of this study are to research the performance distribution characteristics of the ‘tree’, develop the tree-evolution strategies, and propose a serial robot configuration model with hyperparameters. The study observed that many typical performances have a monotonic distribution on the ‘tree’. Based on the estimation concept, the tree-evolution strategies search for the required configurations with high efficiency. In the kinematic synthesis task of an eight-DOF robot, the efficiency of configuration classification is increased by at least 30%, and the efficiency of configuration optimisation is increased by 65%. Moreover, the calculation efficiency is improved further as the DOF increases. The example shows that the new method improves the calculation efficiency of the process of kinematic synthesis compared with that for the traditional method. © 2021 Elsevier Ltd
Keyword :
Efficiency Efficiency Robots Robots Forestry Forestry Iterative methods Iterative methods Degrees of freedom (mechanics) Degrees of freedom (mechanics) Kinematics Kinematics
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GB/T 7714 | Zhao, Jing , Wu, Tong , Zhang, Ziqiang et al. Tree-Evolution: A novel approach for kinematic synthesis of serial robots under performance constraints [J]. | Mechanism and Machine Theory , 2021 , 163 . |
MLA | Zhao, Jing et al. "Tree-Evolution: A novel approach for kinematic synthesis of serial robots under performance constraints" . | Mechanism and Machine Theory 163 (2021) . |
APA | Zhao, Jing , Wu, Tong , Zhang, Ziqiang , Li, Xiaohui , Liu, Weihui . Tree-Evolution: A novel approach for kinematic synthesis of serial robots under performance constraints . | Mechanism and Machine Theory , 2021 , 163 . |
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Abstract :
Bio-inspired jumping robots should achieve stable jumping in field environment. Robots easily lose stability because of the complex terrain and large speed change. Lateral jumping of the robot with four-bar jumping legs under rugged terrain was used as the research object, and a method to achieve good dynamic stability by adjusting the leg attitudes of the robot was proposed. The stability criteria were proposed hierarchically on the basis of the analysis of the jumping mechanism of creatures. Then, the dynamic model of the robot jumping on the slope was established, and the effect of different parameters on dynamic stability was analyzed to carry out the primary selection of parameters. Then, the method of maintaining dynamic stability was proposed. On the basis of ensuring large motion distances and stable driving torques, leg attitudes were considered the optimization parameters. Thus, the robot does not overturn or turn over uncontrollably in the take-off, buffering, and flight phases. Analysis results of robot jumping in plane and 3D space under different terrains prove the feasibility of this method. In particular, the dynamic stability of the robot is better if the take-off direction is considered an optimization parameter. The simulation results also proved the accuracy of the analysis results. The research results provide a theoretical basis to realize stable continuous jumping of bio-inspired biped robots. © 2021
Keyword :
Slope stability Slope stability Robots Robots Stability criteria Stability criteria Biomimetics Biomimetics Landforms Landforms
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GB/T 7714 | Zhang, Ziqiang , Wang, Lun , Liao, Jinnong et al. Dynamic stability of bio-inspired biped robots for lateral jumping in rugged terrain [J]. | Applied Mathematical Modelling , 2021 , 97 : 113-137 . |
MLA | Zhang, Ziqiang et al. "Dynamic stability of bio-inspired biped robots for lateral jumping in rugged terrain" . | Applied Mathematical Modelling 97 (2021) : 113-137 . |
APA | Zhang, Ziqiang , Wang, Lun , Liao, Jinnong , Zhao, Jing , Zhou, Zhenyong , Liu, Xingkun . Dynamic stability of bio-inspired biped robots for lateral jumping in rugged terrain . | Applied Mathematical Modelling , 2021 , 97 , 113-137 . |
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Abstract :
To improve rescue efficiency, a multi-function rescue attachment with tonging, shearing and grasping functions was designed by the authors in a previous study. In this paper, the reliability and reliability sensitivity of this rescue attachment are researched. Three rescue attachment failure modes are analyzed and limit state equations are established for the three failure modes. To consider the complex and nonlinear correlations among these failure modes, a method to analyze the reliability and sensitivity to reliability of the failure modes based on a hybrid copula model is proposed. The Clayton copula, Gumbel copula and Frank copula, which exhibit upper tail dependence, lower tail dependence, and upper and lower tail independence, respectively, are selected to construct the hybrid copula model to describe the complex correlations among multiple failure modes. The weight coefficients and parameters of the hybrid copula model are then estimated using the Bayesian model weighted average method and the minimum square deviation criterion. A method to calculate the sensitivity of the failure correlations to the reliability is then deduced using the moment method to improve the computational efficiency. Two examples show that the proposed method can improve computational efficiency significantly and the calculation results were consistent with those realized using the Monte Carlo (MC) method, but required fewer samples. Finally, the reliability and reliability sensitivity of the rescue attachment are analyzed using the proposed method and MC method. The effectiveness and efficiency of the proposed method are proved, and strategies to improve the rescue attachment’s reliability are determined. © 2021, The Brazilian Society of Mechanical Sciences and Engineering.
Keyword :
Efficiency Efficiency Bayesian networks Bayesian networks Monte Carlo methods Monte Carlo methods Equations of state Equations of state Failure modes Failure modes Computational efficiency Computational efficiency Method of moments Method of moments
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GB/T 7714 | Wang, Chunrong , Zhao, Jing , Xia, Erdong et al. Analyzing reliability and sensitivity to reliability of rescue attachment with multiple failure modes [J]. | Journal of the Brazilian Society of Mechanical Sciences and Engineering , 2021 , 43 (4) . |
MLA | Wang, Chunrong et al. "Analyzing reliability and sensitivity to reliability of rescue attachment with multiple failure modes" . | Journal of the Brazilian Society of Mechanical Sciences and Engineering 43 . 4 (2021) . |
APA | Wang, Chunrong , Zhao, Jing , Xia, Erdong , Gao, Hao . Analyzing reliability and sensitivity to reliability of rescue attachment with multiple failure modes . | Journal of the Brazilian Society of Mechanical Sciences and Engineering , 2021 , 43 (4) . |
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