The purpose of this paper is to apply methods from geometric mechanics to the analysis and control of bipedal robotic walkers. We begin by introducing a generalization of Routhian reduction, functional Routhian Reduct...
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ISBN:
(纸本)9783540738893
The purpose of this paper is to apply methods from geometric mechanics to the analysis and control of bipedal robotic walkers. We begin by introducing a generalization of Routhian reduction, functional Routhian Reduction, which allows for the conserved quantities to be functions of the cyclic variables rather than constants. Since bipedal robotic walkers are naturally modeled as hybrid systems, which are inherently nonsmooth, in order to apply this framework to these systems it is necessary to first extend functional Routhian reduction to a hybrid setting. We apply this extension, along with potential shaping and controlled symmetries, to derive a feedback control law that provably results in walking gaits on flat ground for a three-dimensional bipedal walker given walking gaits in two dimensions.
According to the characteristic of TIG welding, rapid prototyping technology is applied to the functional smart metallic manufacture rapidly. Based on the methods of data processing for STL model, aimed at one multi -...
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ISBN:
(纸本)9783540733737
According to the characteristic of TIG welding, rapid prototyping technology is applied to the functional smart metallic manufacture rapidly. Based on the methods of data processing for STL model, aimed at one multi -parameter, coupling strongly complicated welding process, one procedure "Shaping-Repair-Slicing-Compensation-Planning-Machining" is proposed also it is verified in experiments of one lay multi -path welding and one path multi-lay welding .H08 Copper welding thread is used,and welding current is between 100A similar to 140A.
Subspace System Identification is by now an established methodology for experimental modelling. The basic theory is well understood and it is more or less a standard tool in industry. The two main research problems in...
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ISBN:
(纸本)9783540735694
Subspace System Identification is by now an established methodology for experimental modelling. The basic theory is well understood and it is more or less a standard tool in industry. The two main research problems in subspace system identification that have been studied in the recent years are closed loop system identification and performance analysis. The aim of this contribution is quite different. We have asked an industrial expert working in process control a set of questions on how subspace system identification is used in design of model predictive control systems for process industry. As maybe expected, it turns out that a main issue is experiment/input design. Here, the difference between theory and practice is rather large mainly due to implementation constraints, but also lack of knowledge transfer. Motivated by the response from the expert, we will discuss several important user choices problems, such as optimal input design, merging of data sets and merging of models.
The weld seam recognition is a key technology in robotic welding. This paper presents an efficient algorithm of weld seam detection for butt joint welding from a single image. The basic idea of our approach is to find...
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ISBN:
(纸本)9783540733737
The weld seam recognition is a key technology in robotic welding. This paper presents an efficient algorithm of weld seam detection for butt joint welding from a single image. The basic idea of our approach is to find a pair of weld seam edges in the local area first. Then, starting from the two endpoints of each edge, search for the remnant edge by iterative edge detection and edge linking. This method is insensitive to the variance of the background image and can apply to most type of weld seams in butt joint welding. Experimental results on several type of weld seam images are shown.
Existing modeling frameworks for manufacturing control can be classified into hierarchical framework and heterarchical framework. The two modeling frameworks have some drawbacks which can't be overcome only depend...
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ISBN:
(纸本)9783540733737
Existing modeling frameworks for manufacturing control can be classified into hierarchical framework and heterarchical framework. The two modeling frameworks have some drawbacks which can't be overcome only depending on them. In this paper, in order to improve the performance of the laser welding flexible manufacturing system (LWFMS) we have developed a hybrid modeling framework which has the features of the hierarchical and the heterarchical framework. The LWFMS contains several robots and many workstations which work together to realize a common goal. There exists coordination and cooperation among the different robots and workstations so the multi-agent technology is adopted in the LWFMS. In the end, the simulation result of the hybrid control framework in the LWFMS testifies the validity of the model.
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.
One of the modern geometric views of dynamical systems is as vector fields on a manifold, with or without boundary. The starting point of this paper is the observation that, since one-forms are the natural expression ...
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ISBN:
(纸本)9783540735694
One of the modern geometric views of dynamical systems is as vector fields on a manifold, with or without boundary. The starting point of this paper is the observation that, since one-forms are the natural expression of linear functionals on the space of vector fields, the interaction between the two makes some aspects of the study of equilibria and periodic orbits more tractable, at least in certain cases.
In robot applications requiring interaction with a partially/unknown environment, mapping is of paramount importance. This paper presents an effective surface growing algorithm for map building based on laser scan gen...
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ISBN:
(纸本)9783540733737
In robot applications requiring interaction with a partially/unknown environment, mapping is of paramount importance. This paper presents an effective surface growing algorithm for map building based on laser scan generated point clouds. The algorithm directly converts a point cloud into a surface and normals form which sees a significant reduction in data size and is in a desirable format for planning the interaction with surfaces. It can be used in applications such as robotic cleaning, painting and welding.
To realize weld defects detection and measure automation based on machine vision, such as dimension, shape, displacement and numbers in a given length (area), it's necessary to build a mathematic model for the ima...
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ISBN:
(纸本)9783540733737
To realize weld defects detection and measure automation based on machine vision, such as dimension, shape, displacement and numbers in a given length (area), it's necessary to build a mathematic model for the imaging system. Precision of model directly affects precision of measurement for defects. In this paper, a model was built including some nonlinear factors, i.e. the input screen shape (spherical surface) of the x-ray image intensifier and the distortion of the image in CCD at small distance. A kind of reason why the electromagnetic distortion generates is given in this paper, too.
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