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检索条件"任意字段=3rd International Conference on Robotics and Control Engineering, RobCE 2023"

共 3888 条记录，以下是191-200 订阅

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Research on Welding trajectory planning of MOTOMAN-MA1440 robot based on MATLAB robotics Toolbox 3

Research on Welding trajectory planning of MOTOMAN-MA1440 ro...

引用

3rd international conference on control and Intelligent robotics, ICCIR 2023

作者： Pan, Yunping Lu, Yongqi Liu, Chao School of Mechanical and Electrical Engineering Wuhan University of Technology WuHan430000 China

ISBN: (纸本)9781510671867

In order to analyze the welding trajectory of the rear axle weld on a drive axle, the kinematics equation of the robot was established using the D-H parameter method. MATLAB robotics Toolbox was utilized to verify the forward and inverse kinematics through simulation and to plan the trajectory, continuous and stable terminal pose, change curves of Angle, angular velocity and angular acceleration were obtained. By incorporating specific weld points on the workpiece, the fitting toolbox in MATLAB was employed for curve fitting. The results demonstrate a strong alignment between the trajectory curve fitted by the actual welding points and the simulated trajectory curve. It provides theoretical support for the further research of MOTOMAN-MA1440 robot. © 2023 SPIE.

关键词： MATLAB

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Fuzzy controller Optimization of Synchronous Belt Drive System Based on Improved whale Optimization Algorith 3

Fuzzy Controller Optimization of Synchronous Belt Drive Syst...

引用

3rd IEEE international conference on robotics and Automation Sciences, ICRAS 2019

作者： Zhang, Yunyang Wang, Gong Liu, Bingshan Wang, Wei Liu, Yifei Key Lab. of Space Manufacturing Technology Technology and Engineering Center for Space Utilization University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781728108537

Synchronized belt drive system is a complex nonlinear system, and ordinary PID control is difficult to meet the performance requirements, so it is necessary to design a controller with better performance. In this paper, a fuzzy PID controller is designed, and an improved whale optimization algorithm with adaptive selection mechanism and adaptive convergence factor is proposed. The proposed algorithm is used to optimize the rule base of the fuzzy controller. Compared with the ordinary PID controller and the fuzzy PID controller optimized by whale optimization algorithms and the non-optimized fuzzy PID controller, the fuzzy PID controller optimized by improved whale optimization algorithms has smaller steady-state error and faster response speed, and can meet the actual engineering needs. © 2019 IEEE.

关键词： Three term control systems

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Swing Process Model Design of a Cutter Suction Dredger Based on RBF-ARX Model 3

Swing Process Model Design of a Cutter Suction Dredger Based...

引用

3rd international conference on Automation, control and robotics engineering (CACRE)

作者： Jiang, Shuang Ni, Fusheng Qian, Lina Hohai Univ Educ Minist Dredging Technol Engn Res Ctr 200 Jinling North Rd Changzhou City Peoples R China

The swing process of a cutter suction dredger are affected by many factors, which changed time and nonlinear. So it is difficult to describe the change law accurately. The swing process model based on RBF-ARX model is established after detailed analysis of the formation process of dredger production. The shortcomings of the traditional neural network could be overcome by this method, such as slow convergence rate, more hidden layer. After modeling, the linear and nonlinear parameters of the RBF-ARX model are identified off-line by using SNPOM (Structured Nonlinear Parameter Optimization Method). Then the errors of the output of the model and the real data are compared and analyzed by simulation. The result show that the swing process model can accurately describe the dynamic characteristics of the system in the global range, and the model output is well fitted with the real data of a cutter suction dredger.

关键词： Radial basis function networks

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control parameter optimization of the actively powered upper body exoskeleton using subjective feedbacks 3

Control parameter optimization of the actively powered upper...

引用

3rd international conference on control, Automation and robotics, ICCAR 2017

作者： Ebrahimi, Amir Groninger, Dorothea Singer, Rapahel Schneider, Urs Department Biomechatronic Systems Fraunhofer Institute for Manufacturing Engineering and Automation IPA Stuttgart Germany

ISBN: (纸本)9781509060870

A method of optimizing the control parameter of wearable exoskeletons for industrial applications using subjective feedbacks is introduced in this paper. The human sensory system is explained and a method of mapping these perceptions to the control parameter set of the exoskeleton is developed. Subsequently a method for online parameter adjustment based on the kinetic and kinematic quantities is established and the method is verified for a case study with the Stuttgart Exo-Jacket. © 2017 IEEE.

关键词： Sensory perception

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AI-Based Modeling and control of Robotic Systems: A Brief Tutorial 3

AI-Based Modeling and Control of Robotic Systems: A Brief Tu...

引用

3rd international conference on robotics and Computer Vision, ICRCV 2021

作者： Raina, Deepak Saha, Subir Kumar Indian Institute of Technology Mechanical Engineering Department Delhi India

ISBN: (纸本)9781665436281

Accurate modeling and control of robotic systems are often critical to perform complex manipulation tasks. Artificial Intelligence (AI) based approaches have gained widespread popularity to deal with task complexity and uncertainty. This paper gives a detailed overview and tutorial of AI-based approaches for modeling and control of robotic systems. We provide an easy-to-understand explanation of the key AI-based techniques and demonstrate learning an inverse dynamics model and target reaching controller for a 2-link robotic manipulator using state-of-the-art AI-based methods. The experimental results present a thorough analysis of AI-based techniques and validate their advantages over conventional methods. The code used for the examples has also been made open-source for the research community on this link: https://***/ai-modeling-control. Thus, this paper aims to become a starting point for researchers interested in developing and implementing AI-based methods for robot modeling and control. © 2021 IEEE.

关键词： Reinforcement learning

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control technology and verification of space advanced technology demonstration satellite 3

Control technology and verification of space advanced techno...

引用

3rd international conference on control and Intelligent robotics, ICCIR 2023

作者： Li, Jinsong Yang, Yingquan Zhang, Yonghe Zhang, Xiaofeng Chen, Wen Zhou, Heng Innovation Academy for Microsatellites of CAS Shanghai201304 China Shanghai Engineering Center for Microsatellites Shanghai201304 China

ISBN: (纸本)9781510671867

Aiming at the requirement of low cost, high precision and high stability of space advanced technology demonstration satellite, a method of heterogeneous backup of attitude control sensor is proposed, and the design principle of the sensor is analyzed in depth multi-sensor information fusion algorithm is designed. The control strategy of the satellite is optimized, the weighted PID control strategy is designed, and a reasonable integral separation threshold is selected. control bandwidth is adjusted to reduce the control deviation caused by time delay. The objective of the attitude control system is to achieve control accuracy better than 0.1°(3σ) and control stability better than 0.003°/s(3σ).Through the analysis of on-orbit test data, the control accuracy of the satellite is better than 0.005°(3σ), and the control stability is better than 0.0005°/s(3σ). © 2023 SPIE.

关键词： Satellites

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Structure and control System Design of Robot for Connecting Drain wire in Distribution Networks 3

Structure and Control System Design of Robot for Connecting ...

引用

3rd international conference on Electronic Information engineering and Computer Science, EIECS 2023

作者： Zhang, Qiuyan Xiao, Shuzhou Huang, Ruyun Zhang, Ruifeng Zeng, Peng Guizhou Power Grid Co. Ltd. Electric Power Research Institute Guiyang City China

ISBN: (纸本)9798350316674

With the increasing energy demand, the efficient operation of power distribution network system becomes particularly important. In order to improve the operation and maintenance efficiency and safety of the distribution network, this paper proposes a novel structure and control system design of a robot for distribution network lap drain wire. In order to solve the problem of robot on-line, we adopt the platform operation mode mounted on the liftable double-section insulated ladder, and the robot is designed with a stripping module, a hooking up drain wire operation module, and an on-line clamping module as the operation module to ensure the successful completion of the task. The design balances structural stability and flexibility to create a robot that can safely and efficiently complete the job. © 2023 IEEE.

关键词： distribution network drain wire robotics system design

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On Constrained Manipulation in robotics-Assisted Minimally Invasive Surgery

On Constrained Manipulation in Robotics-Assisted Minimally I...

引用

3rd IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics

作者： Azimian, Hamidreza Patel, Rajni V. Naish, Michael D. Canadian Surg Technol & Adv Robot Lawson Hlth Res Inst 339 Windermere Rd London ON Canada Univ Western Ontario CSTAR Dept Elect & Comp Engn Dept Surg London ON Canada Univ Western Ontario CSTAR Dept Mech & Mat Engn Dept Elect & Comp Engn London ON Canada

ISBN: (纸本)9781424477098

Results of a study on the restricted motion of manipulators in robotics-assisted minimally invasive surgery are presented in this paper. The governing equations of trocar kinematics are derived and the constrained manipulation is generically formulated in terms of the trocar geometry as well as the kinematics of the manipulator. The results are validated through a numerical simulation with a Mitsubishi PA10-7C arm. Following this analysis, by utilizing the constrained manipulation formulation, a modified measure of manipulability, specifically applicable to surgical tasks, is proposed. The measure is proven to be frame-invariant and dimensionally homogeneous for manipulators with similar joints (revolute or prismatic). Furthermore, the measure is shown to be capable of quantifying the impact of trocar constraints on surgical task performance when the remote center of motion is maintained through active compliant motion control.

关键词： Mitsubishi PA10-7C arm active compliant motion control constrained manipulation formulation manipulator kinematics medical robotics numerical analysis remote center of motion robotics-assisted minimally invasive surgery surgery surgical tasks trocar constraints trocar kinematics

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A Congestion Sub-area Coordinated control Model for Queue Suppression Based on Improved Evolutionary Algorithm 3

A Congestion Sub-area Coordinated Control Model for Queue Su...

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3rd international conference on robotics, Automation and Intelligent control, ICRAIC 2023

作者： Shou, Yanfang Li, Hongjie Xu, Jianmin South China University of Technology Guangzhou Institute of Modern Industrial Technology Guangzhou China Poly Changda Engineering Co. Ltd Engineering Technology Department Guangzhou China South China University of Technology School of Civil Engineering and Transportation Guangzhou China

ISBN: (纸本)9798350360813

Iterative optimization of signal control timing is an significant way to alleviate urban traffic congestion. In order to ensure the stability of traffic operation under traffic congestion, this paper constructed a coordinated control algorithm for congestion sub-area facing queue suppression. By introducing path traffic flow and path length indicators, a method for selecting critical traffic paths under congestion conditions was proposed. A coordinated control model for congestion sub-area was established, with the optimization goal of maximizing the throughout traffic volume of critical traffic paths and minimizing the increment of maximum queue length in sub-area. In order to improve the convergence ability of the algorithm, taking the green signal ratio, phase sequence, split and cycle as optimization parameters, a microscopic simulation environment was constructed to solve individual fitness, and an improved adaptive genetic algorithm based on simulated annealing adaptive crossover and mutation strategy was used to obtain optimal signal timing parameters. The simulation results showed the proposed method can effectively improve the sub-area traffic operation efficiency under congestion conditions. © 2023 IEEE.

关键词： Traffic congestion

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Arduino-based Omnidirectional Mobile Intelligent Vehicle control System 3

Arduino-based Omnidirectional Mobile Intelligent Vehicle Con...

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3rd international conference on robotics, Automation and Intelligent control, ICRAIC 2023

作者： Zhang, Dandan Xu, Yinan Li, Hao Wu, Yujing Yanbian University Yanbian China

ISBN: (纸本)9798350360813

In order to solve the problems of road traffic congestion and poor autonomous movement in a narrow space, this paper develops a set of omnidirectional mobile intelligent vehicle control system based on Arduino and using Mecanum wheel. The system allows the vehicle to move autonomously in a narrow space, with intelligent obstacle avoidance, steering and U-turn functions. We used the assembled cart to write the corresponding program and debugged the control parameters of some motors and servos to improve the various tasks of the cart. © 2023 IEEE.

关键词： Traffic congestion

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