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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51-60 订阅

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Research on Manipulator control Based on Visual Feature Constraints 3

Research on Manipulator Control Based on Visual Feature Cons...

引用

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

作者： Wang, Weiru Zhang, Xiaokang Liu, Jiasheng Wu, Peizhang 713th Research Institute of China State Shipbuilding Corportion Limited Zhengzhou China

ISBN: (纸本)9798350316674

With the deepening of research in machine vision and other related fields, vision-based robotic arm control has always been a research hotspot in the field of robotics. For the automatic grasping control of robot arm, a control method based on visual feature constraints is proposed in this paper. The linear spatial interpolation method is used to plan the linear trajectory of the end of the robot arm in Cartesian space, and then control the end of the robot arm to pass the planned trajectory points successively, so as to grasp the target successfully. In order to solve the problem that the object exceeds the camera field of view, the visual feature constraint function is introduced to limit the movement of the robot arm. The simulation results show that this method can effectively control the position of the end of the robot arm in the process of automatic grasping, and ensure that the grasping target is always in the field of view of the camera. © 2023 IEEE.

关键词： manipulator control variable structure controller visual feature constraint

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Highly Sensitive Flexible Resistance Strain Sensor Based on PDMS and Silver Nanowire 3

Highly Sensitive Flexible Resistance Strain Sensor Based on ...

引用

3rd international conference on Computer, control and robotics, ICCCR 2023

作者： Sun, Weiming Liu, Mei Djoulde, Aristide Liu, Xinyue School of Mechatronic Engineering and Automation Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai200444 China

ISBN: (纸本)9781665492126

Flexible sensing film has a broad application prospect in the fields of medicine, wearable electronic devices, complex environment sensing, and others. In this paper, dimethylsiloxane (PDMS) was used as a flexible substrate to prepare composite conductive films by covering silver nanowires (AgNWs) with specific lines on the substrate surface. The resistance change of the sensor is mainly caused by the change in the number of contact points between AgNWs on the film surface, which has higher linearity than the traditional resistance strain gauge. The sensor is very sensitive and has a very good measuring effect on the pressure of 0-6N and the micro-bending caused by 0-1N. Common sensors made of micro-nano materials are usually affected by transverse strain. The sensor in this experiment designs a special circuit structure, which can effectively avoid the lateral effect. The sensor also has the characteristic of self-recovery, which can achieve self-recovery under a certain degree of damage. It can be used to detect small changes in the skin. © 2023 IEEE.

关键词： Substrates

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Geometric control Methods for On-Orbit Assembly of Modular Spacecraft Cluster 3

Geometric Control Methods for On-Orbit Assembly of Modular S...

引用

3rd international conference on Mechatronics, control and robotics, ICMCR 2025

作者： Wang, Jingxian Chen, Rong Bai, Yuzhu Zhao, Yong College of Aerospace Science and Engineering National University of Defense Technology Changsha China

ISBN: (纸本)9798331544546

In this paper, a cluster geometry control method is proposed for the problem of on-orbit assembly of modular spacecraft clusters. The method bases the cluster system on a manifold. A collision avoidance constraint that does not generate terminal position mutual exclusion is designed for the characteristics of the assembly problem. Assembly and task time constraints are further considered to integrate the non-convex multiple constraints with the system metric matrix. Finally, model predictive control is used to realize tracking control. Simulation results show that the method can arrive at the target position to complete the on-orbit assembly within any initial position and different fixed time constraints and achieve the purpose of energy optimization. © 2025 IEEE.

关键词： Tracking (position)

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Model-Based control of Automatic Excavator Using Kinematic Models of Operation Part 3

Model-Based Control of Automatic Excavator Using Kinematic M...

引用

3rd international conference on robotics, Automation and Artificial Intelligence (RAAI)

作者： Park, Giseo Jeon, Pilsoo Ahn, Kyoungkwan Univ Ulsan Sch Mech Engn Ulsan South Korea

ISBN: (纸本)9798350307573;9798350307566

Automatic excavators, which do not require direct operator intervention, have great advantages in terms of operator convenience and work efficiency, and are receiving a lot of attention. In order to improve the automatic work performance of an excavator, precise motion control of the upper operation part of the automatic excavator is essential. To do this, a model-based control algorithm for an automatic excavator, which is accompanied by a kinematic modeling process of the operation part, is newly designed in this paper. Based on sophisticated simulation, the characteristics of the proposed control algorithm are evaluated by comparing it with the existing proportional-integral-derivative (PID) controller.

关键词： automatic excavator hydraulic cylinder model-based controller least square method

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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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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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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...

引用

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...

引用

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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Research on Objectives Recognition of robotics based on Convolutional Neural Network 3

Research on Objectives Recognition of Robotics based on Conv...

引用

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

作者： Ren, Guanzhu Zhao, Yichen Wu, Zhengfeng Li, Pengwei Mi, Kaiyu Taiyuan University of Technology College of Wollongong Engineering Taiyuan China Jinzhong China Taiyuan University of Technology College of Mechanical and Transportation Engineering Taiyuan China

ISBN: (纸本)9798350316674

Recently, robotics has widely utilized in tremendous applications including traffic transportation, medical treatments, power system and virtual environment. These applications are almost based on the vision system, which is consisted by detection sensors and cameras. However, existing recognition methods are concentrated on the precision of machine learnings under the ideal setups and ignored the complex environment for robotics. In this paper, we simulate the realistic robotics sensors with non-complete input images and propose a novel convolutional network without redundancy neural layers. Indeed, an attention mechanism is established to enhance the recognition accuracy of proposed framework. Finally, we evaluate our model with existing objectives identification learning methods in the identical testing configurations. From our extensive experiment results and analysis, we can conclude that the proposed model can achieve the objectives recognition in complex robotics scenario with acceptable recognition accuracy and reasonable computation costs. © 2023 IEEE.

关键词： Attention mechanism Convolutional neural network Objectives recognition robotics

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