Changwu Qiu | Shanghai Jiaotong University (original) (raw)

Papers by Changwu Qiu

Research paper thumbnail of Dynamic multi-rigid-body systems with concurrent distributed contacts

Philosophical Transactions of the Royal Society of London. Series A: Mathematical, Physical and Engineering Sciences, 2001

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Research paper thumbnail of Graphical Programming, Simulation and Control System for Dual-Arm Mobile Robot

Computer Simulation, 2006

A graphical programming, simulation and control system is described which can provide Dual-Arm ro... more A graphical programming, simulation and control system is described which can provide Dual-Arm robot a task planning, 3D simulation and control environment. User can program a Dual-arm robot through graphical programming, preview and check motion simulation in 3D simulation, and then download optimal program to actual robot controller to ensure the desired results. The system uses Java3D and VRML for 3D simulation, and runs on RT-Linux platform to ensure Real-Time in simulation and control. Multi-robot mechanism is realized to support pipelining work or cooperation between robots. This system now supports Dual-Arm Mobile robot of YASWAKA Electric Corporation.

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Research paper thumbnail of Resolve redundancy with constraints for obstacle and singularity avoidance subgoals

International Journal of Robotics and Automation, 2008

In this work we analyse the general form solution of the Inverse Redundant Kinematics (IRK) probl... more In this work we analyse the general form solution of the Inverse Redundant Kinematics (IRK) problem from a geometric point of view. We propose two new methods, Velocity Projection Constraints Method (VPCM) and On-line Task Modification Method (OTMM), which formulate the obstacle and singularity avoidance as constraints, and will be incorporated in the standard Quadratic Programming (QP) method to resolve the IRK problem. This will avoid the compromise or conflict between weighted optimization criteria for the obstacle and singularity avoidance subgoals, as well as the complicated weight adjustment process. The OTMM is effective not only to redundant manipulators but also to nonredundant manipulators. Numerical simulation examples validate and prove the effectiveness of the proposed methods.

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Research paper thumbnail of Multi-objective Planning of Continuous Trajectory Taskfor an Omni-directional Mobile Dual-Arm Robot Based on Product Arbitration

Robot, 2013

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Research paper thumbnail of Multi-objective Programming with Product Arbitration and a New Particle Swarm Optimization Algorithm

Robot, 2013

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Research paper thumbnail of On-line planning of nonholonomic mobile manipulators based on stability twist constraint

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Research paper thumbnail of Graphical Programming, Simulation and Control System for Dual-Arm Mobile Robot

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Research paper thumbnail of Analysis of dynamic stability constraints for a mobile humanoid robot

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Research paper thumbnail of Redundant Manipulator Control with Constraints for Subgoals

This work analysed the general form of solution for inverse redundant kinematics (IRK) problem in... more This work analysed the general form of solution for inverse redundant kinematics (IRK) problem in geometry view, and proposed new methods to formulate the obstacle and singularity avoidance as constraints, which were incorporated into standard non-linear quadratic programming (QP) method to resolve the IRK problem. With this method, the compromise or conflict between multi optimization criteria and the complicated weighted adjustment process in weighted sum method for IRK were removed. Obstacle avoidance and physical limits, such as joint range, velocity and acceleration, were formulated as dynamic inequality constraints. For on-line inescapable singularity avoidance, the vector, according to the minimum singular value of the Jacobian matrix, was used to revise the desired tracking velocity when manipulators move near to singularity. Numerical examples show the validity and effectiveness of the proposed methods

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Research paper thumbnail of An on-line task modification method for singularity avoidance of robot manipulators

Robotica, 2009

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Research paper thumbnail of Improving the stability level for on-line planning of mobile manipulators

Robotica, 2009

This paper presents a quadratic programming (QP) form algorithm to realize on-line planning of mo... more This paper presents a quadratic programming (QP) form algorithm to realize on-line planning of mobile manipulators with consideration for improving the stability level. With Lie group and screw tools, the general tree topology structure mobile robot dynamics and dynamic stability attributes were analysed. The stable support condition for a mobile robot is constructed not only in a polygonal support region, but also in a polyhedral support region. For a planar supporting region, the tip-over avoiding requirement is formulated as the tip-over prevent constraints with the reciprocal products of the resultant support wrench and the imaginary tip-over twists, which are constructed with the boundaries of the convex support polygon. At velocity level, the optimized resolution algorithm with standard QP form is designed to resolve the inverse redundant kinematics of the Omni-directional Mobile ManipulatorS (OMMS) with stability considerations. Numerical simulation results show that the presented methods successfully improve the stability level of the robot within an on-line planning process.(Received June 02 2008)(Online publication July 09 2008)

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Research paper thumbnail of Modeling and Analysis of the Dynamics of an Omnidirectional Mobile Manipulators System

Journal of Intelligent and Robotic Systems, 2008

This work studies the dynamic modeling method for a service robot with Omni-directional Mobile Ma... more This work studies the dynamic modeling method for a service robot with Omni-directional Mobile ManipulatorS configuration. Based on screw theory, Lie group notations, reciprocal product of twist and wrench, and Jourdain principle, the robot’s motion equations including the whole body manipulation are formulated with left invariant representation. A legible and canonical dynamic model representing the relation between the inputs and the generalized dynamic load wrenches is presented. Considering the tradeoff between the symbolic concision, the modularization in code realization and the computation load, the dynamic model is decomposed into succinct block factorizations, and the basic computation unites are boiled down to the adjoint map corresponding to each joint. The traditional Lie bracket operation is extended to a generalized form. Computation efficiency, for the coefficient matrixes of the system motion equation, is discussed based on its special representation form. The generalization of the modeling method with Lie group and algebra tool is also summarized.

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Research paper thumbnail of Dynamic Multi-Rigid-Body Systems with Concurrent Distributed Contacts--Theory and Examples

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Research paper thumbnail of Dynamic multi-rigid-body systems with concurrent distributed contacts

Philosophical Transactions of the Royal Society of London. Series A: Mathematical, Physical and Engineering Sciences, 2001

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Research paper thumbnail of Graphical Programming, Simulation and Control System for Dual-Arm Mobile Robot

Computer Simulation, 2006

A graphical programming, simulation and control system is described which can provide Dual-Arm ro... more A graphical programming, simulation and control system is described which can provide Dual-Arm robot a task planning, 3D simulation and control environment. User can program a Dual-arm robot through graphical programming, preview and check motion simulation in 3D simulation, and then download optimal program to actual robot controller to ensure the desired results. The system uses Java3D and VRML for 3D simulation, and runs on RT-Linux platform to ensure Real-Time in simulation and control. Multi-robot mechanism is realized to support pipelining work or cooperation between robots. This system now supports Dual-Arm Mobile robot of YASWAKA Electric Corporation.

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Research paper thumbnail of Resolve redundancy with constraints for obstacle and singularity avoidance subgoals

International Journal of Robotics and Automation, 2008

In this work we analyse the general form solution of the Inverse Redundant Kinematics (IRK) probl... more In this work we analyse the general form solution of the Inverse Redundant Kinematics (IRK) problem from a geometric point of view. We propose two new methods, Velocity Projection Constraints Method (VPCM) and On-line Task Modification Method (OTMM), which formulate the obstacle and singularity avoidance as constraints, and will be incorporated in the standard Quadratic Programming (QP) method to resolve the IRK problem. This will avoid the compromise or conflict between weighted optimization criteria for the obstacle and singularity avoidance subgoals, as well as the complicated weight adjustment process. The OTMM is effective not only to redundant manipulators but also to nonredundant manipulators. Numerical simulation examples validate and prove the effectiveness of the proposed methods.

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Research paper thumbnail of Multi-objective Planning of Continuous Trajectory Taskfor an Omni-directional Mobile Dual-Arm Robot Based on Product Arbitration

Robot, 2013

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Research paper thumbnail of Multi-objective Programming with Product Arbitration and a New Particle Swarm Optimization Algorithm

Robot, 2013

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Research paper thumbnail of On-line planning of nonholonomic mobile manipulators based on stability twist constraint

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Research paper thumbnail of Graphical Programming, Simulation and Control System for Dual-Arm Mobile Robot

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Research paper thumbnail of Analysis of dynamic stability constraints for a mobile humanoid robot

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Research paper thumbnail of Redundant Manipulator Control with Constraints for Subgoals

This work analysed the general form of solution for inverse redundant kinematics (IRK) problem in... more This work analysed the general form of solution for inverse redundant kinematics (IRK) problem in geometry view, and proposed new methods to formulate the obstacle and singularity avoidance as constraints, which were incorporated into standard non-linear quadratic programming (QP) method to resolve the IRK problem. With this method, the compromise or conflict between multi optimization criteria and the complicated weighted adjustment process in weighted sum method for IRK were removed. Obstacle avoidance and physical limits, such as joint range, velocity and acceleration, were formulated as dynamic inequality constraints. For on-line inescapable singularity avoidance, the vector, according to the minimum singular value of the Jacobian matrix, was used to revise the desired tracking velocity when manipulators move near to singularity. Numerical examples show the validity and effectiveness of the proposed methods

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Research paper thumbnail of An on-line task modification method for singularity avoidance of robot manipulators

Robotica, 2009

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Research paper thumbnail of Improving the stability level for on-line planning of mobile manipulators

Robotica, 2009

This paper presents a quadratic programming (QP) form algorithm to realize on-line planning of mo... more This paper presents a quadratic programming (QP) form algorithm to realize on-line planning of mobile manipulators with consideration for improving the stability level. With Lie group and screw tools, the general tree topology structure mobile robot dynamics and dynamic stability attributes were analysed. The stable support condition for a mobile robot is constructed not only in a polygonal support region, but also in a polyhedral support region. For a planar supporting region, the tip-over avoiding requirement is formulated as the tip-over prevent constraints with the reciprocal products of the resultant support wrench and the imaginary tip-over twists, which are constructed with the boundaries of the convex support polygon. At velocity level, the optimized resolution algorithm with standard QP form is designed to resolve the inverse redundant kinematics of the Omni-directional Mobile ManipulatorS (OMMS) with stability considerations. Numerical simulation results show that the presented methods successfully improve the stability level of the robot within an on-line planning process.(Received June 02 2008)(Online publication July 09 2008)

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Research paper thumbnail of Modeling and Analysis of the Dynamics of an Omnidirectional Mobile Manipulators System

Journal of Intelligent and Robotic Systems, 2008

This work studies the dynamic modeling method for a service robot with Omni-directional Mobile Ma... more This work studies the dynamic modeling method for a service robot with Omni-directional Mobile ManipulatorS configuration. Based on screw theory, Lie group notations, reciprocal product of twist and wrench, and Jourdain principle, the robot’s motion equations including the whole body manipulation are formulated with left invariant representation. A legible and canonical dynamic model representing the relation between the inputs and the generalized dynamic load wrenches is presented. Considering the tradeoff between the symbolic concision, the modularization in code realization and the computation load, the dynamic model is decomposed into succinct block factorizations, and the basic computation unites are boiled down to the adjoint map corresponding to each joint. The traditional Lie bracket operation is extended to a generalized form. Computation efficiency, for the coefficient matrixes of the system motion equation, is discussed based on its special representation form. The generalization of the modeling method with Lie group and algebra tool is also summarized.

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Research paper thumbnail of Dynamic Multi-Rigid-Body Systems with Concurrent Distributed Contacts--Theory and Examples

Bookmarks Related papers MentionsView impact