Thisresearch reportbrings together presenttrends in advanced welding robots, robotic welding, artificial intelligent and automatic welding. It includes important technical subjects on welding robots such as intelligen...
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ISBN:
(数字)9783540733744
ISBN:
(纸本)9783540733737
Thisresearch reportbrings together presenttrends in advanced welding robots, robotic welding, artificial intelligent and automatic welding. It includes important technical subjects on welding robots such as intelligent technologies and systems, and design and analysis. Modeling, identification and control of the welding process are presented, as well as knowledge-based systems for welding and tele-robotic welding. Other topics covered are sensing and data fusion, computer vision and virtual-reality applications of the welding process. An overview of intelligent and flexible manufacturing systems is given in addition to artificial intelligent technologies for industrial processes.
"Robot Motion control 2007" presents very recent results in robot motion and control. Forty-one short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Cont...
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ISBN:
(数字)9781846289743
ISBN:
(纸本)9781846289736
"Robot Motion control 2007" presents very recent results in robot motion and control. Forty-one short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and control held in Poland in June 2007. The authors of these papers have been carefully selected and represent leading institutions in this field. The following recent developments are discussed: Design of trajectory planning schemes for nonholonomic systems with optimization of energy, torque limitations and other factors; vision-based control; different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others. The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists and researchers working in these fields.
Time delays exist in many engineering systems such as transportation, communication, process engineering and networked control systems. In recent years, time delay systems have attracted recurring interests from resea...
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ISBN:
(数字)9783540711193
ISBN:
(纸本)9783540711186
Time delays exist in many engineering systems such as transportation, communication, process engineering and networked control systems. In recent years, time delay systems have attracted recurring interests from research community. Much of the effort has been focused on stability analysis and stabilization of time delay systems using the so-called Lyapunov-Krasovskii functional together with a linear matrix inequality approach, which provides an efficient numerical tool for handling systems with delays in state and/or inputs. Recently, some more interesting and fundamental development for systems with input/output (i/o) delays has been made using time domain or frequency domain approaches. These approaches lead to analytical solutions to time delay problems in terms of Riccati equations or spectral factorizations. This monograph presents simple analytical solutions to control and estimation problems for systems with multiple i/o delays via elementary tools such as projection. We propose a re-organized innovation analysis approach for delay systems and establish a duality between optimal control of systems with multiple input delays and smoothing estimation for delay free systems. These appealing new techniques are applied to solve control and estimation problems for systems with multiple i/o delays and state delays under both the H2 and H-infinity performance criteria.
Laser welding has a quite high demand on trajectory accuracy of articulated robot. To improve dynamic trajectory accuracy of articulated robots for laser welding, a novel 3D seam tracking method is proposed based on s...
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ISBN:
(纸本)9783540733737
Laser welding has a quite high demand on trajectory accuracy of articulated robot. To improve dynamic trajectory accuracy of articulated robots for laser welding, a novel 3D seam tracking method is proposed based on stereo visual feedback control. The method constructs a visual feedback control system with two convergent cameras mounted at the end of industrial robot. A tool coordinate system is constructed to transfer the end-link displacement of robot to that of the tool. A proposed GPI transform method, binocular vision technologies and a modified algorithm of line-line matching are utilized to calculate the positions of laser focus and weld seam, which makes the dynamic trajectory error between laser focus and weld seam can be calculated. The robot is finally commanded to move and decrease the trajectory error as soon as possible based on robot kinematics. Experimental results show that the method can effectively improve the trajectory accuracy of industrial robot for laser welding.
In this paper, we consider the problem of finding, among solutions of a moment problem, the best Kullback-Leibler approximation of a given a priori spectral density. We present a new complete existence proof for the d...
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ISBN:
(纸本)9783540735694
In this paper, we consider the problem of finding, among solutions of a moment problem, the best Kullback-Leibler approximation of a given a priori spectral density. We present a new complete existence proof for the dual optimization problem in the Byrnes-Lindquist spirit. We also prove a descent property for a matricial iterative method for the numerical solution of the dual problem. The latter has proven to perform extremely well in simulation testbeds.
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