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检索条件"丛书名=Mechanisms and Machine Science"

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Some Rational Vehicle Motions

Some Rational Vehicle Motions

引用

6th International Workshop on Computational Kinematics (CK)

作者： Selig, J. M. London S Bank Univ Fac Business London SE1 0AA England

ISBN: (纸本)9789400772144;9789400772137

It is observed that the kinematic equations of many vehicles take the same form. This form is that the body-fixed velocity twist of the vehicle lies in a fixed screw-system of a particular type. The Cayley map can be used to pull-back these equations to the Lie algebra of the group of rigid-body motions. Rational solutions to the equations can be found by the method of undetermined coefficients. Since the Cayley map is a rational map, mapping these rational solutions back to the group gives rational rigid-body motions. A 3-parameter family of rational Frenet-Serret motions is found in this way. Multiplying these motions by a rational roll-motion gives a 4-parameter family of aeroplane motions.

关键词： Rational rigid-body motions Cayley map Cars Aeroplanes

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The Robot that Learns from the Therapist How to Assist Stroke Patients 1

引用

2nd Workshop on New Trends in Medical and Service Robotics (MeSRoB)

作者： Kostic, M. D. Popovic, M. D. Popovic, D. B. Univ Belgrade Fac Elect Engn Belgrade Serbia Univ Belgrade Fac Philosophy Expt Psychol Lab Belgrade Serbia

ISBN: (纸本)9783319054315;9783319054308

Results from clinical studies suggest that assisted training is beneficial for the recovery of functioning in patients with stroke and other central nervous system injuries. The training consists of the repetition of movements, which change the excitability of the brain, and due to cortical plasticity have carry-over effects. We are developing a 3D arm assistant that interfaces the patient at the hand/wrist. The development addresses three major issues: (1) the selection of the tasks that are appropriate for the training based on the level of motor abilities (2) the design of the visual feedback that enhances the motivation to train, and (3) the assessment of the performance. Therefore, our design integrates the new 3D robot assistant, various gaming based visual feedback, and software that acquires data on-line from sensors (position of the hand and force between the robot and the hand). The major novelties that the 3D arm assistant brings are the following: an automatic method of capturing movements presented by the therapist (expert), the use of the probabilistic movement representation for control of the robot, the incorporation of simple gaming with adjustable levels of difficulty, and finally, the assessment of differences between the achieved and target movements (kinematics) and interface force measured by a special handle with multiple sensors. The components of the new arm assistant in 2D have been tested and proved to work effectively in the clinical trials with stroke patients.

关键词： Stroke Upper extremities Rehabilitation Robot assistance Motivation Gaming Assessment

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Kinematic Analysis of Slider-Cranks Derived from the λ-Mechanism

Kinematic Analysis of Slider-Cranks Derived from the λ-Mech...

引用

6th International Workshop on Computational Kinematics (CK)

作者： Ottaviano, Erika Rea, Pierluigi Conte, Marco Univ Cassino & Southern Lazio Dept Civil & Mech Engn I-03043 Cassino Italy

ISBN: (纸本)9789400772144;9789400772137

In this paper a kinematic analysis is presented for slider-cranks derived from the lambda-mechanism. In particular, for this linkage the coupler curves traced by a reference point are Berard curves. By properly choosing the design parameters of the mechanism the coupler curves are represented by quartics, which have been identified and classified.

关键词： Kinematics Slider-crank Coupler curve Singularities

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Some Applications of Biomimetics and Fractional Calculus in Control and Modeling of (Bio)robotic Systems 1

引用

2nd Workshop on New Trends in Medical and Service Robotics (MeSRoB)

作者： Lazarevic, M. Univ Belgrade Fac Mech Engn St Kraljice Marije 16 Belgrade Serbia

ISBN: (纸本)9783319054315;9783319054308

Rapid development of biological science and technologies will further improve the active applications of control engineering by advanced biomimetic and biologically inspired research. First of all, it has promoted a biologically inspired control synergy approach that allows the resolution of redundancy of a given robotized system. In particular, the actuator redundancy control problem has been stated and solved by using Pontryagin's maximum principle, where control synergy was established at the coordination level. Besides, fractional calculus (FC), is a mathematical topic with more than 300 years old history, in recent years there have been extensive research activities related to applications of FC in many areas of science and engineering. Here, they are presented by the advanced algorithms of PID control based on FC, tuned by genetic algorithms, in the position control of robotic system with 3 DOFs driven by DC motors. Also, a chattering-free fractional PD alpha sliding-mode controller in the control of a given robotic system has been proposed and realized. The effectiveness of the proposed optimal fractional order controls are demonstrated by the given robot. Finally, it is shown that one can obtain analytical expressions for generalized forces of the magnetorheological damping elements of fractional order which are used for obtaining better model of (bio)robotic systems.

关键词： Biomimetic Actuator redundancy Biologically inspired control Fractional order PID controller Fractional order sliding mode controller

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Dimensional Synthesis of a Spatial Orientation 3-DoF Parallel Manipulator by Characterizing the Configuration Space

Dimensional Synthesis of a Spatial Orientation 3-DoF Paralle...

引用

6th International Workshop on Computational Kinematics (CK)

作者： Urizar, M. Petuya, V. Diez, M. Hernandez, A. Univ Basque Country Fac Engn Bilbao Dept Mech Engn Bilbao Spain

ISBN: (纸本)9789400772144;9789400772137

In this paper the authors approach the dimensional synthesis of parallel manipulators focusing on the evaluation of important entities belonging to the configuration space, such as workspace and joint space. In particular, 3-DoF manipulators that can perform non-singular transitions are considered, illustrating the procedure with a case study. The target is to search for designs that achieve the goals of adequate size and shape of the workspace.

关键词： Parallel mechanisms Configuration space Dimensional synthesis

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How to Control Anthropomimetic Robot: Engineering and Cognitive Approach 1

引用

2nd Workshop on New Trends in Medical and Service Robotics (MeSRoB)

作者： Potkonjak, V. Jovanovic, K. Milosavljevic, P. Univ Belgrade Sch Elect Engn ETF Robot Lab Belgrade Serbia Swiss Fed Inst Technol Lausanne EPFL Automat Control Lab Lausanne Switzerland

ISBN: (纸本)9783319054315;9783319054308

The anthropomimetics represents a relatively new discipline in the field of robotics that tends to go one step further than copying human shape and functionality. In order to fully transfer certain human behavior patterns to the robots working in a human adapted environment, it is necessary to fully copy human body and structure. However, the emerging issue in this field is how to control such a mechanism. This chapter presents some concepts related to the control of human-like drives. The first one is the biologically inspired and energy efficient puller-follower control concept for the antagonistically coupled compliant drives. Although the concept follows its biological paragon, it is still realizable in a conventional engineering way. Apart from the antagonistically coupled muscles, it is required to deal with the control of muscles crossing several joints (polyarticular muscles) or even multi-DOF joints, where conventional control techniques can hardly offer any solution. The second part of this chapter suggests possible approaches to dealing with these issues, by exploiting cognition and heuristics. The control algorithm involves two levels: feedforward (FF) and feedback (FB), both relying on the experience. Based on the prior knowledge of human-like motions, FF control is obtained using neural networks or heuristic approach. Regardless of the antagonistic drive structure, both methods are applicable to a wider class of robots. This chapter advocates these methods as an efficient tool to evade the exact mathematical modeling and conventional control of the nonlinear and redundant mechanical system. For fine movements, the FB control is introduced through fuzzy logic. It presents a novel solution to issues emerging as a result of combining the experience-based learning and the "blackbox'' model of the system. Finally, we have compared and contrasted engineering and cognitive approaches, thus drawing attention to their advantages and disadvantages, as well as th

关键词： Bio-inspired robotics Musculoskeletal robot Puller-follower control Experience based control Neural-fuzzy control

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Markerless Vision-Based Skeleton Tracking in Therapy of Gross Motor Skill Disorders in Children 1

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2nd Workshop on New Trends in Medical and Service Robotics (MeSRoB)

作者： Karan, B. Golubovic, S. Gnjatovic, M. Serbian Acad Arts & Sci Inst Tech Sci Belgrade Serbia Univ Novi Sad Fac Med Novi Sad Serbia Univ Novi Sad Fac Tech Sci Novi Sad Serbia

ISBN: (纸本)9783319054315;9783319054308

This chapter presents a research towards implementation of a computer vision system for markerless skeleton tracking in therapy of gross motor skill disorders in children suffering from mild cognitive impairment. The proposed system is based on a low-cost 3D sensor and a skeleton tracking software. The envisioned architecture is scalable in the sense that the system may be used as a stand-alone assistive tool for tracking the effects of therapy or it may be integrated with an advanced autonomous conversational agent to maintain the spatial attention of the child and to increase her motivation to undergo a long-term therapy.

关键词： 3D sensing Skeleton tracking Computer-aided therapy Human-machine interaction

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Shape Modeling of Continuous-Curvature Continuum Robots

Shape Modeling of Continuous-Curvature Continuum Robots

引用

6th International Workshop on Computational Kinematics (CK)

作者： Bai, Shaoping Aalborg Univ Dept Mech & Mfg Engn Aalborg Denmark

ISBN: (纸本)9789400772144;9789400772137

An essential problem in developing concentric-tube continuum robots is to determine the shape of the robot, which is dependent on robot structure and external load. A comprehensive model that takes into considerations of influencing factors is hence required. In this work, the shape modeling of a type of concentric-tube continuum robot built with a collection of super-elastic NiTiNol tubes is studied. The model, developed on the basis of differential geometry and curved beam theory, is able to determine both the bending deflection and torsional deformation for a continuum robot of continuous curvature. Simulation results for calculating the shape of a continuum robot built with NiTiNol tubes are included.

关键词： Flexible manipulators Continuous-curvature continuum robots Shape modeling NiTiNol tubes

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Experiences on Service Robots at LARM in Cassino 1

引用

2nd Workshop on New Trends in Medical and Service Robotics (MeSRoB)

作者： Ceccarelli, Marco Carbone, Giuseppe Univ Cassino & South Latium LARM Cassino Italy

ISBN: (纸本)9783319054315;9783319054308

Service robots are presented in this chapter from authors' perspective as based on experiences at LARM in Cassino. Peculiarities of service robots can be challenges for their wide diffusion in terms of low-cost user-oriented features both in design and operation. Comments on direct authors' experiences help to outline possibilities for developing service robots with low-cost user-oriented features with design activity without large resources.

关键词： Service robots Design Experimental robotics Prototypes

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Foundations for the Approximate Synthesis of RCCC Motion Generators

Foundations for the Approximate Synthesis of RCCC Motion Gen...

引用

6th International Workshop on Computational Kinematics (CK)

作者： Angeles, Jorge McGill Univ Montreal PQ Canada

ISBN: (纸本)9789400772144;9789400772137

The approximate synthesis of RCCC linkages formotion generation, a. k. a. rigid-body guidance, is the subject of this paper. A formulation is proposed here based on dual algebra, thereby leading to a dual, constrained, nonlinear least-square problem. The dual normality conditions necessary to obtain a feasible least-square approximation are established, following which an algorithm for the solution of the problem is proposed.

关键词： Spatial Burmester problem Approximate rigid-body guidance Dual normality conditions Dual Constrained Nonlinear least squares

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