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2nd international conference on Mechatronics and Applied Mechanics (ICMAM2012)2nd international conference on Mechatronics and Applied Mechanics (ICMAM2012)

作者： Matsuda, Keishi Ishihara, Hidenori Matsuyama Univ Dept Business Adm Bunkyo 4-2 Matsuyama Ehime 7908578 Japan Kagawa Univ Dept Intelligent Mech Syst Engn Takamatsu Kagawa 610396 Japan

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DEVELOPMENT And IMPLEMENTATION OF AN INTELLIGENT FLEXIBLE MANUFACTURING SYSTEM

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JOURNAL OF MECHANICAL WORKING technology 1989年第C期20卷 389-402页

作者： LIM, R SIONG, LB CHOON, HN Grumman International/Nanyang Technological Institute CAD/CAM Centre Nanyang Technological Institute Nanyang Avenue Singapore 2263

The GRUMMAN international NANYANG TECHNOLOGICAL INSTITUTE CAD/CAM CENTRE is currently developing an Intelligent Flexible Manufacturing System for the machining of complexed shaped components. The equipment which has been installed includes an automated storage and retrieval system with a vertical transfer system; a Scara robot with an assembly table for fixturing; a 3 axis vertical machining centre with a gantry robot for the loading and unloading of modular fixtures; an automatic probe changing co-ordinate measuring machine for inspection; and an automated guided vehicle system for material transportation. The Intelligent Flexible Manufacturing System, IFMS employs a distributed control strategy with four distinct subsets; namely, Facility Level for plans development; Shopfloor Level for inventory control and production scheduling; Workstation Level for local planning, scheduling and data transmission; Equipment Level for the control of programmable logic and computer numerical control, CNC controllers. The software which has been developed locally for this IFMS includes post-processors for the assembly robot, vertical machining centre and co-ordinate measuring machine, CMM. Communication software between different workstations and the CAD facilities together with the equipment controllers and machine tools has also been successfully developed. This paper describes the design philosophy and development work associated with an IFMS within GINTIC from the facility planning level to the equipment control level.

关键词： Industrial Plants

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robot Arm Motion Design by Frenet-Serret and Rotation Minimizing Frames

Robot Arm Motion Design by Frenet-Serret and Rotation Minimi...

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2nd IEEE international conference on Computer Science and Information technology

作者： Ravani, Reza Azad Univ Tehran Cent Branch Dept Comp Engn Tehran Iran

ISBN: (纸本)9781424445189

The purpose of this paper is to represent that the techniques of Computer Aided Geometric Design such as spatial rational frames could be applied to robot kinematics for arm motion design and to computer graphics for generating smooth animation of a rigid body specially in complicated sets of control points and orientations. In application requiring control of the orientation of a rigid body, as its center of mass executes a given path, alignment of body's principal axes with the Frenet-Serret Frame at each point appears to be the solution. However, the other useful orthonormal frames can be defined along a space curve. An important example is Rotation Minimizing Frame. Rotation Minimizing Frames are employed in robotics application where the axis of a tool or probe should remain tangential to a given spatial path while minimizing changes of orientation about this axis.

关键词： Spatial Frames Frenet Serret Frames Rotation Minimizing Frames Sweeping Surfaces

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Rebellious robot: On positive effects of negative behavior 2018

Rebellious robot: On positive effects of negative behavior

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2nd international conference on Mechatronics Systems and control Engineering (ICMSCE)

作者： Matsumoto, Mitsuharu Univ Electrocommun 1-5-1 Chofugaoka Chofu Tokyo Japan

ISBN: (纸本)9781450363792

This paper introduces a robot design of rebellious robot and its effects in human-robot interaction. Users often bore the robots during the interaction when it always obeys the users' orders and does the same reaction against the users' order. On the other hand, we are often more attracted to a rebellious child rather than a compliant child in our daily life. We pay attention to this fact, and design a rebellious robot, which is sometimes contumacious rather than compliant. We conducted some comparison experiments using a compliant robot and a learning robot. Through the experiments, we confirmed that users accepted the rebellious robot and felt some positive impression on it.

关键词： Rebellious robot Human-robot interaction User experiments

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Design and Implementation of an Intelligent Dust Cleaner robot for Uneven and Nonstructural Environment 2

Design and Implementation of an Intelligent Dust Cleaner Rob...

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2nd international conference on Computing, Mathematics and Engineering Technologies (iCoMET)

作者： Saleem, Adeel Iqbal, Atif Sabir, Adnan Hussain, Adil North China Elect Power Univ Sch Elect & Elect Engn Beijing Peoples R China Univ Lahore Dept Elect Engn Lahore Pakistan North China Elect Power Univ Sch Renewable Energy & Clean Energy Beijing Peoples R China COMSATS Inst Informat Technol Sahiwal Pakistan

ISBN: (纸本)9781538695098

with the advancement of automobile industry the control for robotics have much attention just because of reliability and time optimization capability with performance. There is a need of an automatic robot which is capable for the cleaning of the room, office, mall etc and this paper is focusing on such prototype. This paper represents the room cleaning robot which has map storage and wall following functionality and all this implemented using Arduino Uno. With the combination of sensor assembly, algorithm and the intelligent dust cleaner shape make him feasible and effective for all type of environments. It has much more benefits over conventional household vacuum cleaners such as there is no need of personal to clean the room, office etc and fulfilling the main purpose for cleaning the room automatically. In the last results show that this robot is saving much money and time for cleaning the rooms, offices, etc

关键词： Itelligent Dust Cleaner Pulse width modulation automatic robot

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Process Simulation and Optimization of Ammunition Filling robot based on DELMIA 2

Process Simulation and Optimization of Ammunition Filling Ro...

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2nd international conference on Cybernetics, robotics and control (CRC)

作者： Yin, Meng Lv, Xinxing He, Yun Xu, Zhigang Chinese Acad Sci SIA Shenyang 110179 Liaoning Peoples R China Univ Chinese Acad Sci Beijing 100049 Peoples R China Northeastern Univ Coll Mech Engn & Automat Shenyang 110819 Liaoning Peoples R China

ISBN: (纸本)9781538606773

The development of ammunition production technology directly affects the level of national defense construction, the application of industrial robot improves the automation degree of ammunition production line, but its work path is complex and the craft is numerous, so simulation verification is needed before the actual installation and debugging, domestic simulation research is still in its infancy. This paper uses robotics module of DELMIA software to model its working process, on this basis, the work path setting, robot trajectory optimization and collision and interference detection are carried out, the production process was optimized by PERT diagram and Gantt diagram. The results show that the optimized process improves the production efficiency and saves the working time. This method has reference significance for the application of other robots in specific industries.

关键词： robotics process optimization PERT diagram

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Efficient Drag-based Swimming using Articulated Legs with Micro Hair Arrays Inspired by a Water Beetle

Efficient Drag-based Swimming using Articulated Legs with Mi...

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2nd IEEE international conference on Soft robotics (RoboSoft)

作者： Kwak, Bokeon Lee, Dongyoung Bae, Joonbum UNIST Dept Mech Engn Biorobot & Control BiRC Lab Ulsan South Korea

ISBN: (纸本)9781538692608

Drag-based swimming is usually accompanied with the shape change of rowing appendages to generate asymmetric force during the power stroke and recovery stroke. To implement this in an aquatic robot, one may actively control the surface area of its legs during the swimming. However, a small sized robot with a limited number of actuators should adjust the surface area of legs in passive manner. For this reason, we proposed a novel articulated leg fringed with micro hair arrays inspired by a water beetle. This leg structures was especially designed to implement an efficient recovery stroke with less resistive force. By interacting with surrounding media (i.e., water), the surface area of the leg structure was adaptively increased and decreased during the power stroke and recovery stroke, respectively. Also, a 5.5 cm long swimming robot with one pair of legs was built to further investigate the performance of the leg structure. It was found from experiments that introducing a relaxation phase between the power stroke and recovery stroke not only could increase the swimming velocity, but it also reduced the number of required swimming strokes to traverse a given distance. Comparing with a non-articulated leg, a robot with articulated legs exhibited negligible backward displacement during recovery stroke.

关键词： Legged locomotion Hair Sports Force Drag Fabrication

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A Transmission Algorithm Applicable to Incremental and Absolute Encoder and Its Implementation 2

A Transmission Algorithm Applicable to Incremental and Absol...

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2nd international conference on Advanced robotics and Mechatronics (ICARM)

作者： Shi Buhai Tian Shipeng South China Univ Technol Sch Automat Sci & Engn Guangzhou 510641 Guangdong Peoples R China

ISBN: (纸本)9781538632604

A data transmission algorithm applicable to incremental and absolute encoders is presented and implemented on FPGA-based six axis robot experimental platform. When the industrial computer (IPC) requests synchronous position, the absolute position data is transmitted, while the incremental data is transmitted in the other case to reduce the bus load. In addition, the servo control units assign absolute value data and upload tasks to the various control cycles finely, thus avoiding interference with normal servo control beats. Experimental results shown that the servo control units can read the multi-axis absolute encoders data and achieve the precise positioning of the robot system, further improving the performance of the robot system and reducing the cost.

关键词： Transmission algorithm FPGA Absolute encoder incremental encoder multi-axis robot system

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Design of a Fuzzy Logic controller for a Mobile robot Tracking a Moving Target

Design of a Fuzzy Logic Controller for a Mobile Robot Tracki...

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2nd international conference on Computer Science and Network technology (ICCSNT)

作者： Benbouabdallah, Karim Zhu Qi-dan Harbin Engn Univ Coll Automat Harbin 150001 Peoples R China

ISBN: (纸本)9781467329644;9781467329637

The target tracking is one of the most challenging tasks for an autonomous mobile robot moving in an unknown environment. This paper presents a simple control strategy that enables a mobile robot to track a target moving along an unknown trajectory. The proposed controller was designed using fuzzy logic theory to compute both the mobile robot's linear and angular velocities in order to point the robot on the target direction and maintain a desired distance to it. Extensive simulation results are provided to verify the effectiveness of the proposed approach.

关键词： Mobile robot target tracking fuzzy logic

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Admittance control of a robotic Exoskeleton for Physical Human robot Interaction 2

Admittance Control of a Robotic Exoskeleton for Physical Hum...

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2nd international conference on Advanced robotics and Mechatronics (ICARM)

作者： Huang, Bo Ye, Zhifeng Li, Zhijun Yuan, Wang Yang, Chenguang South China Univ Technol Coll Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China

ISBN: (纸本)9781538632604

In this paper, an admittance control scheme is proposed for physical human-robot interaction with human subject's intention motion as well as dynamic uncertainties of the robotic exoskeleton. Human subject's intention motion is represented by the reference trajectory. Online estimation of the stiffness is employed to deal with the variable impedance property of the exoskeleton manipulator. An admittance control approach is firstly presented in order to generate a differentiable reference trajectory in interaction tasks. Then a stability criterion can be obtained by the proposed control method. The designed controller includes linearly parameterization and estimation for the unknown items of the dynamics. Bounded and convergent errors are shown in the motion tracking. The experimental results indicate that the proposed control approach enables the human subjects to execute an admittance control task on the exoskeleton robot effectively.

关键词： Admittance control Variable stiffness Human-robot interaction robotic exoskeleton

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