In this paper we study the problem of synchronization of networked. Lagrangian systems. This problem arises in applications such as the control of multiple robots, formation control of UAV's, mobile sensor network...
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ISBN:
(纸本)9783540738893
In this paper we study the problem of synchronization of networked. Lagrangian systems. This problem arises in applications such as the control of multiple robots, formation control of UAV's, mobile sensor networks, Kuramoto oscillators, and teleoperation. We assume that the agents exchange position and velocity information over a network described by an interconnection graph. We consider only linear interconnections on balanced, directed graphs but similar results can also be derived for nonlinear interconnections on undirected graphs. Our results exploit the well-known passivity property of Lagrangian mechanical systems. We demonstrate synchronization on both fixed and switching graphs. In the case of fixed graphs, the passivity property allows us, in addition, to treat the practically important problem of time delay in communication.
A new Remote Robotic Welding System (RRWS) with a number of intelligent sensors and based on the control strategy of "macroscopic teleoperation, microscopic autonomous", was investigated. By analyzing the re...
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ISBN:
(纸本)9783540733737
A new Remote Robotic Welding System (RRWS) with a number of intelligent sensors and based on the control strategy of "macroscopic teleoperation, microscopic autonomous", was investigated. By analyzing the remote robotic welding process, it is found that the cooperation and coordination of all subsystem and operator are the key technology and the guarantee of RRWS's practical application. And then multi-agent based modeling and control of RRWS were studied because that the multi-agent thinking is very suitable to the characteristics of RRWS. By this means, the separate advantages of human and machines separately were utilized fully. Lastly, the results demonstrated that the RRWS can be applied in practice efficiently, reliable and precisely by modeling and control using multi-agent technology.
This paper discussed seam tracking technology by computer vision sensing in real time for robot GTAW. An image processing algorithm was presented to extract the seam trajectory and the offset of the torch to the seam ...
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ISBN:
(纸本)9783540733737
This paper discussed seam tracking technology by computer vision sensing in real time for robot GTAW. An image processing algorithm was presented to extract the seam trajectory and the offset of the torch to the seam in the welded pool images of aluminum alloys with grooves. Also the tracking sequence was analyzed and designed. C++ computer language was used to realize the algorithm. The experimental results showed that the error of real-time image process could meet the requirement of production. Such an algorithm was proved to be feasibility in factual manufacturing.
In this paper, a laser vision system based on synchronous scanning technology is developed. The proposed system is composed of a fixed CCD camera, a fixed line laser projector and a scanning mirror. While the scanning...
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ISBN:
(纸本)9783540733737
In this paper, a laser vision system based on synchronous scanning technology is developed. The proposed system is composed of a fixed CCD camera, a fixed line laser projector and a scanning mirror. While the scanning mirror rotates under the control of a stepping motor, the optical paths of projection and receiver are changed synchronously. The geometrical relation is discussed for designing an experimental prototype. The experiment results obtained from the scanning system are also shown. The measurement accuracy is equivalent to the conventional vision sensors. The system utilizing the less complex mechanism can realize a wide angle-of-view 3D surface acquisition.
In this paper we analyze the equations of motion of a submerged rigid body. Our motivation is based on recent developments done in trajectory design for this problem. Our goal is to relate some properties of singular ...
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ISBN:
(纸本)9783540738893
In this paper we analyze the equations of motion of a submerged rigid body. Our motivation is based on recent developments done in trajectory design for this problem. Our goal is to relate some properties of singular extremals to the existence of decoupling vector fields. The ideas displayed in this paper can be viewed as a starting point to a geometric formulation of the trajectory design problem for mechanical systems with potential and external forces.
Dynamic tracking of motion trajectories of human fingertips is a very challenging job considering the requirement of accuracy as well as speed. A binocular vision is adopted to dynamically measure the fingertip positi...
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ISBN:
(纸本)9783540733737
Dynamic tracking of motion trajectories of human fingertips is a very challenging job considering the requirement of accuracy as well as speed. A binocular vision is adopted to dynamically measure the fingertip positions of the human hand. Based on Kalman filter, combined with the historical motion data of human hand, a dynamic tracking model is presented which can fast and accurately track the fingertip positions. The experimental result shows that when human fingers move in a natural speed, the dynamic fingertip positions can be tracked successfully.
An automatic path planning method, including the torch pose planning, is proposed to improve the flexibility and automatic planning ability of arc welding robot. The virtual object, which representing the real object ...
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ISBN:
(纸本)9783540733737
An automatic path planning method, including the torch pose planning, is proposed to improve the flexibility and automatic planning ability of arc welding robot. The virtual object, which representing the real object to be welded, is reconstructed firstly by non-rational B-spline surface from geometric polygonal mesh model or measured point cloud. Based on the reconstructed non-rational surface model, the tangent vector and the tangent plane of each sampling point on the space welding seam is calculated, as well as the normal plane of each sampling point. Thus the position and pose of torch with respect to each sampling point of space seam can be determined by the calculated tangent vector, normal plane and concrete requirement of welding process. The final path planning of arc welding robot in joint space is obtained by its inverse kinematics. Experimental results demonstrate the accuracy and the feasibility of the proposed method.
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