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检索条件"任意字段=3rd International Workshop on Robot Motion and Control"

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Verification Method of Intelligent Prosthetic Algorithm Based on Anthropomorphic Walking robot 3

Verification Method of Intelligent Prosthetic Algorithm Base...

引用

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

作者： An, Honglei Sun, Lei Ma, Hongxu Wei, Qing Natl Univ Def Technol Coll Intelligence Sci & Technol Changsha Peoples R China

ISBN: (纸本)9798350307573;9798350307566

A key issue in the research of intelligent prosthetics is the verification and analysis of the proposed prosthetic motion planning and control methods. In this paper, it is proposed that using a humanoid walking robot as the subject can effectively test the interaction dynamics between the prosthesis and the human body. This method also avoids the risk of injury to amputee patients when participating in the test before the control method is mature. Specifically, the anthropomorphic walking of bipedal walking robots is first realized, and a testbed that fully simulates the straight leg walking is obtained. The right leg (below the thigh) of the bipedal robot is then replaced with an intelligent prosthesis. When testing the planning and control methods of intelligent prosthetics, prosthetic controllers run independently. The bipedal walking robot, except for the part below the right thigh, normally performs the "humanoid motion controller". Effective intelligent prosthetic control methods will make the prosthesis-"human" coupling system produce smooth walking movements, while ineffective intelligent prosthetic control will cause the coupling system to fall due to strong interference.

关键词： verification intelligent prosthesis anthropomorphic walking virtual constraint

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Impact of Body Movement and Teleoperation Interface on Operator's Performance 24

Impact of Body Movement and Teleoperation Interface on Opera...

引用

19th Annual ACM/IEEE international Conference on Human-robot Interaction (HRI)

作者： Lefebvre, Maelis Doppia, Thomas Doue, Agnes Roy, Raphaelle N. Peysakhovich, Vsevolod Univ Toulouse ONERA Federat ENAC ISAE SUPAERO Toulouse France

ISBN: (纸本)9798400703232

Teleoperation has become increasingly crucial for military, civil, and space applications. This study examines how dynamic environments, such as the remote control of a robot from a vehicle in movement, affect teleoperation performance. We evaluate the effects of changing gravitational cues provided by a motion platform, on operators' teleoperation of a drone in virtual reality, and explore different visual interfaces to enhance performance. Preliminary findings suggest that teleoperation from dynamic environments can lead to reduced performance, with 3rd person perspective (3PP) potentially mitigating negative effects. While further research is needed, our results initiate the exploration of the relationship between body movement and teleoperation for more efficient and safer practices.

关键词： Body motion teleoperation virtual reality UAV perspective attitude indicator

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Error analysis of execution end of laparoscopic surgical robot system 24

Error analysis of execution end of laparoscopic surgical rob...

引用

3rd international Symposium on control Engineering and robotics, ISCER 2024

作者： Yin, Zhanpeng Ge, Rongyu Song, Shukai Wang, Wenlong School of Mechanical Engineering University of Jinan Jinan250024 China

ISBN: (纸本)9798400709951

The executive end of the laparoscopic surgical robot adopts a wire-pulley drive to meet the actual needs. However, the hysteresis error caused by the change of the motion direction of the surgical instruments and the coupling motion error caused by the physical characteristics of the driving mechanism exist in the wire-pulley drive. In order to improve the control accuracy of laparoscopic surgical robots, the generation mechanism of two errors was analyzed. The feedforward compensation strategy is designed and the correctness of the feedforward compensation strategy is verified by simulation and experiment. The experimental results show that the compensation strategy is correct, which effectively reduces the influence of error on the control accuracy. © 2024 ACM.

关键词： Laparoscopy

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Research on motion Mechanism of a Snake-like robot in Water Environment 24

Research on Motion Mechanism of a Snake-like Robot in Water ...

引用

3rd international Symposium on control Engineering and robotics, ISCER 2024

作者： Zhang, Minghui Herath, Rajitha lakamal bandara Shandong University of Science and Technology Qingdao266590 China

ISBN: (纸本)9798400709951

The serpentine motion exhibited by sea snakes has various advantages, including increased propulsion efficiency, enhanced agility, silent operation, obstacle adaption, variable speed control, which can be used for camouflage, stealth, or crossing narrow areas. This paper primarily centers on the numerical simulation aimed at elucidating the motion mechanism associated with the undulation movement akin to that of a sea snake. The motion pattern of the model is designed for lateral undulation of snake locomotion. And the linear acceleration of the model is obtained based on the motion equation. Using numerical simulation methods, the propulsion mechanism of lateral undulation motion was studied. The results shows that the thrust force of the robot is determined by the jet at the tail and the surface pressure difference. In addition, When the robot moves forward, the amplitude of thrust increases but the fluctuation period decreases compared with static lateral undulation. © 2024 ACM.

关键词： robots

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Research of the Gesture control System for a Industrial robot 3

Research of the Gesture Control System for a Industrial Robo...

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3rd international Conference on Electrical Engineering and Mechatronics Technology, ICEEMT 2023

作者： Liu, Tiansong Jiangsu Union Technical Institute Changzhou Liu Guojun Branch Changzhou China

ISBN: (纸本)9798350303698

At present, the programming methods of industrial robots mainly include off-line programming and instructional programming. However, both of the methods are time-consuming and require experienced robotics technicians. In order to improve the interactivity of industrial robot control system, this paper has designed a control system of industrial robot based on hand gestures. The whole system is composed of four parts. The IMU is used in the human hand gesture acquisition, and the signal processing of IMU is analyzed. The relationship between gestures and robot movements in linear motion mode and joint motion mode are analyzed respectively. The ABB IRB 120 robot is used as a test object and its program is designed. Finally, the effectiveness of the method proposed in this paper is validated. © 2023 IEEE.

关键词： Industrial robots

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Particle Swarm Optimization Based control For a controlled Floating Space robot 3

Particle Swarm Optimization Based Control For a Controlled F...

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

作者： Chaudhary, David Murugan, Senthil Indian Inst Technol Madras Dept Aerosp Engn Aeroelectro Mech & Syst Lab I Chennai Tamil Nadu India

ISBN: (纸本)9798350307573;9798350307566

This paper explores Particle Swarm Optimization (PSO) based control of a morphing robot arm mounted on a controlled Floating Space robot (CFSR). CFSR is a new study spacecraft model allowing controlled adjustments of the satellite base's pose. The dynamic model of the chaser spacecraft is derived relative to the target in an inertial frame, using the Clohessy-Wiltshire model or Hills equations for defining their relative motion. It is assumed that both spacecraft are in an Inplane-elliptical formation. The manipulator dynamics are obtained through Lagrangian formulation. The PSO algorithm optimizes controller gain values while a quintic polynomial trajectory is provided as input to the arm joints. Results show that the PSO-based controller effectively reduces tracking error and power requirements, and it is also compared with a conventional proportional-derivative (PD) controller.

关键词： morphing hills equations particle swarm optimization spacecraft

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Research on Manipulator control Based on Improved PID Algorithm 3

Research on Manipulator Control Based on Improved PID Algori...

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3rd international Conference on Artificial Intelligence, Automation, and High-Performance Computing, AIAHPC 2023

作者： Lin, Ruihao China University of Mining and Technology School of Information and Control Engineering Xuzhou221116 China

ISBN: (数字)9781510666580

ISBN: (纸本)9781510666573

During the motion of a robotic arm, its response speed and trajectory accuracy are crucial. This paper analyzes the control mode of the traditional PID controller, combines the principle of particle swarm algorithm, and studies the improved PID control based on the PSO algorithm. Simulate the optimized control effect using simulink simulation software, and compared with the tracking effect of the traditional PID controller. The simulation results show that compared to traditional PID controllers, the optimized PID control system has shorter response time, enhanced anti-interference ability, and more stable dynamic performance. It is shown that using an improved PID controller to control the motion of the robot arm can make the motion response speed faster, better suppress the interference of the external environment, and improve the accuracy of the robot arm's motion trajectory. © 2023 SPIE.

关键词： Simulink

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Calibration of Space robot Parameters Based on Base Coordinate System Errors 3

Calibration of Space Robot Parameters Based on Base Coordina...

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3rd IEEE international Conference on Electrical Engineering, Big Data and Algorithms, EEBDA 2024

作者： Yao, Zhen Liu, Chuankai Chen, Li Chen, Gang Han, Fang Hu, Xiaodong Fuzhou University Fuzhou China Beijing Aerospace Control Center Key Laboratory of Science and Technology on Aerospace Flight Dynamic Beijing China Beijing University of Posts and Telecommunications Beijing China Beijing Aerospace Control Center Beijing China

ISBN: (纸本)9798350380989

A motion error parameter identification method is proposed to address the issue of insufficient absolute positioning accuracy of a seven-degree-of-freedom space robot based on the geometric parameter errors of the robotic arm and the position errors of the base coordinate system. Firstly, the kinematic model of the space robot is established based on a modified complete and parametrically continuous model, and the mapping relationship between the geometric parameter error of the robotic arm link and the end-effector pose error is obtained using the pose differential transformation method. Then, taking into account the base coordinate system's positional error, a novel model for the space robot is developed, based on the errors associated with the base coordinate system. Finally, the identification of kinematic parameters is accomplished using the Levenberg-Marquardt optimization algorithm. Simulation results validate the effectiveness of the proposed method. © 2024 IEEE.

关键词： error model kinematic parameters space robot the position errors of the base coordinate system

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Research on Climbing motion Planning of Inchworm robot Based on Improved PSO 3

Research on Climbing Motion Planning of Inchworm Robot Based...

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3rd international Conference on Service robotics, ICoSR 2024

作者： Deng, Jiaxian Cui, Xiaohong Tang, Wenbei Chen, Wenjie Sun, Jun China Jiliang University Hangzhou China

ISBN: (纸本)9798350367119

A 5-degree-of-freedom robot composed of T joint, I joint and hand claw clamping modules was constructed by imitating the inchworm body and combined with the modular design, the kinematic model based on the D-H method was established, and the forward and reverse solutions of position and velocity kinematics were derived, and the gait and obstacle crossing performance such as creeping, rotation and flipping were analyzed. Secondly, to address the issue of motion energy consumption in the transition between the peristaltic gait and the flipping gait of the robot, we utilize the 'error tracking' paradigm of the Cartesian space cubic polynomial, coupled with the joint space seventh-order polynomial, the optimal energy consumption planning method constrained by kinematics and dynamics was designed to realize the automatic control of climbing. Finally, the experiments of robot motion planning under continuous climbing gait are tested, and the experimental results demonstrate that the motion path devised by our innovative planning approach surpasses all comparative paths in terms of energy efficiency. Furthermore, our proposed algorithm outperforms others in achieving the fastest resolution timeframe and minimized energy utilization, given the equivalent iteration quantity. These calculations firmly establish the practicality and proficiency of our planning technique. © 2024 IEEE.

关键词： robot programming

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Mechanical and Electronic Engineering Design and control Technology under Artificial Intelligence 3

Mechanical and Electronic Engineering Design and Control Tec...

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3rd international Conference on Data Analytics, Computing and Artificial Intelligence, ICDACAI 2024

作者： Jia, Guifu Jing, Yanhui Lanzhou Resources & Environment VOC-TECH University Gansu Province Lanzhou730000 China

ISBN: (纸本)9798331519032

With the continuous improvement of industrial processing automation, artificial fruit picking can no longer meet the requirements of today's processing efficiency. Therefore, automatic fruit picking robots are increasingly integrated into mechanized production, making the study of robot motion space very important. At present, there is a lot of research in the academic community. The traditional method for designing robot motion trajectories is usually optimized in terms of motion time and travel speed, rather than in terms of motion space. In order to further optimize the braking force distribution model of the electromechanical braking system, this paper takes the melon and fruit picking machinery equipment model as an example, fully considers the factors of idle frequency and full load, and conducts performance optimization analysis of the electromechanical braking system based on the PSO (Particle Swarm Optimization) algorithm. This article takes the ideal braking force distribution curve as the starting point, determines the objective function and constraint function, and selects the PSO algorithm to search for constraint inequality problems. Finally, the experimental results showed that the damage rate of the PSO algorithm was below 0.5% for different fruit picking quantities, while the ACO (Ant Colony Optimization) algorithm had the smallest damage rate of 0.9% and the highest damage rate of 2.3%. © 2024 IEEE.

关键词： Particle swarm optimization (PSO)

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