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A fast calibration method of the robot's 3D vision system 4

A fast calibration method of the robot's 3D vision system

引用

2020 4th international Workshop on Advanced Algorithms and control engineering, IWAACE 2020

作者： Qin, Lei Zheng, Zhenxing Diao, Shipu Guangdong Huibo Robotics Technology Co. Ltd. Foshan Guangdong528225 China School of Mechatronic Guangdong Polytechnic Normal University Guangzhou Guangdong510665 China

Calibration accuracy and convenience are very important for the rapid production of vision-based robots. Although there are many calibration methods for the 3D vision system, the convenience of calibration cannot meet the needs of industrial sites. In this paper, we propose a fast calibration method based on a 3D calibration block. Its key point is to complete the calibration process through multiple space point constraints, and the space points used are jointly solved by multiple planes obtained by local point cloud fitting. the experimental results show that the proposed method can quickly complete the calibration of the robot's 3D vision system, and the calibration accuracy can meet low precision occasions. © Published under licence by IOP Publishing Ltd.

关键词： Calibration

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Rapid mode-switching for acoustic manipulation 4

Rapid mode-switching for acoustic manipulation

引用

4th international conference on Manipulation, Automation and robotics at Small Scales (MARSS)

作者： Latifi, Kourosh Kopitca, Artur Zhou, Quan Aalto Univ Dept Elect Engn & Automat Espoo 02150 Finland

ISBN: (纸本)9781728109480;9781728109497

Acoustic manipulation techniques are becoming increasingly common with a range of applications in the biomedical research, microassembly, and lab-on-a-chip. Recently, a class of devices have attracted considerable attention which utilize dynamic and reconfigurable acoustic fields, known as dynamic-field acoustic devices. A common method of applying dynamic fields is to use mode-switching by rapidly altering the excitation frequency. Such methods generally rely on the switching being performed faster than the time constant associated with the particle motion. Nevertheless, it remains a grand challenge to eliminate or at least reduce the switching time to a minimal value. In this paper, we suggest employing a high-speed controller to minimize the switching time, enabling continuous particle manipulation in a dynamic-field acoustic device. As a proof-of-concept, we apply such idea to a classic acoustic manipulation device, a Chladni plate which consists of a centrally-actuated vibrating plate. By employing a closed-loop real-time controller, we show successful manipulation of particles on the plate on predefined trajectories. the high-speed switching methodology can also be applied to other dynamic-field acoustic methods, such as surface acoustic wave (SAW) devices, acoustic levitators, and in-fluid acoustic devices. this can result in faster and smoother particle manipulation in such devices.

关键词： Acoustic manipulation real-time control dynamic-filed acoustic device mode-switching Chladni plate model predictive control

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Automatic GTAW Robot Arc Length control Based on Particle Filter 4

Automatic GTAW Robot Arc Length Control Based on Particle Fi...

引用

4th international conference on robotics and Automation engineering, ICRAE 2019

作者： Wang, Hui Lei, Ting Rong, Youmin Xiong, Pengfei Huang, Yu School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9781728147406

In the automatic GTAW robot welding process, workpiece-surface unevenness and tungsten-electrode loss are so common that frequently cause the fluctuation of welding arc length and the unstable welding quality. In order to solve the phenomenon, this paper collected real-time welding arc voltage, and obtained the arc length data by the relationship between arc length and arc voltage by using an arc voltage sensor, and proposed a particle-filter-based automatic GTAW robot arc length adjustment method to eliminate the nonlinear non-Gaussian noise in the welding process, which can accurately and quickly control the arc length of the welding robot. Experiment results showed that the designed method can effectively improve the stability of the welding arc length and the welding quality. © 2019 IEEE.

关键词： Monte Carlo methods

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An Experimental Ferromagnetic Wall Climbing and Paint Fixing Robot control by an Upper Computer with Colour Discrimination and Its Development Prospect 4

An Experimental Ferromagnetic Wall Climbing and Paint Fixing...

引用

4th international conference on robotics and Automation engineering, ICRAE 2019

作者： Yang, Kehan Ma, Zhenyu Pan, Yifan School of International Education Beijing University of Chemical Technology Beijing102202 China

ISBN: (数字)9781728147406

ISBN: (纸本)9781728147406

It is an extremely important task to detect and repair the magnetic conductivity walls of large tanks, steel bridges, ship walls and aircraft exterior surfaces in the industrial field. this kind of task is usually carried out in extremely complex environment, which has the characteristics of high labor intensity and dangerous operation. thus, there is a great demand for robot assistance. the paper describes a kind of corporation robot system, which use a Linux based computer with a camera as upper computer and a Magnetic caterpillar car robot with Arduino inside. With pixel to real distance calculation, upper computer is able to find the path and correctly guide the robot. the combination of magnetic wall climbing robot and upper-computer system can greatly improve the safety and efficiency of engineering operations. In addition, this paper analyses the motion system and the computer system in detail. the result shows that the whole system has the ability to adapt many kinds of magnetic conducting surface, and is able to expand easily. © 2019 IEEE.

关键词： Pixels

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A Modular Hybrid Exoskeletal-Soft Glove for High Degree of Freedom Monitoring Capability 16

A Modular Hybrid Exoskeletal-Soft Glove for High Degree of F...

引用

16th IEEE international conference on Rehabilitation robotics (ICORR)

作者： Trott, Robert E. Kleinig, Timothy J. Hillier, Susan L. Hobbs, David A. Reynolds, Karen J. Flinders Univ S Australia Med Device Res Inst Adelaide SA Australia Flinders Univ S Australia Coll Sci & Engn Adelaide SA Australia Univ South Australia Div Hlth Sci Adelaide SA Australia Univ Adelaide Royal Adelaide Hosp Adelaide SA Australia Univ Adelaide Fac Hlth & Med Sci Adelaide SA Australia

ISBN: (纸本)9781728127552

In this paper, we present a hybrid exoskeletal-soft glove for the application of on-axis angle sensors that can be placed close to the center of rotation of the digit joints. 3D printed exoskeletal digit segments that run medially on most digits connect to low friction bearings. Exoskeletal segments and bearings provide rigid fixation points for a variety of traditional angle sensors, while a combination of textile and rigid structure fixate exoskeletal digits to the digits and hand. Exoskeletal digits are designed modularly so that only required digits are used and to reduce difficulty in donning and doffing. On-axis measurement may prove useful in control or assessment tasks in rehabilitation. the articulation of the digits while wearing the glove is demonstrated, albeit without sensors, showing little restriction at an early stage of the design process. Exoskeletal metacarpophalangeal joints of the 3rd and 4th digits require more work as the flexion/extension joint axis is inaccessible and moves when the digits are articulated. the proposed device must be customized for an individual and will facilitate an alternative approach to existing hand posture monitoring techniques.

关键词： conferences Rehabilitation robotics

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Adaptive sliding mode control of projectile transfer manipulator based on double power approach law 2019

Adaptive sliding mode control of projectile transfer manipul...

引用

4th international conference on Automation, control and robotics engineering, CACRE 2019

作者： Xiao, Zhongliang Li, Zhigang Yang, Shanping School of Mechanical Engineering Nanjing University of Science and Technology Nanjing Jiangsu China

ISBN: (纸本)9781450371865

An adaptive sliding mode control algorithm based on the double power approach law is proposed toward the problem of the precision of the manipulator's rotary motion in the automatic loading system of *** speed of approaching the sliding surface is accelerated, and the chattering phenomenon during switching is reduced by adopting the double power approach *** variation and external disturbance of the system using adaptive control rate *** simulation results show that this method has better tracking accuracy for the expected trajectory and less positioning error, and it is robust to system parameter changes and external disturbances. © 2019 Association for Computing Machinery.

关键词： Projectiles

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Coupling Attitude control for Flexible Spacecraft with Rotating Structure

Coupling Attitude Control for Flexible Spacecraft with Rotat...

引用

international conference on robotics and Automation Sciences (ICRAS)

作者： Jie Wang Jun Wu Wang Liu Haoran Ji College of Aerospace Science and Engineering National University of Defense Technology Changsha China

ISBN: (数字)9781728198576

ISBN: (纸本)9781728198583

this paper is devoted to the precise attitude control of flexible spacecraft with rotating structures, which is modeled as a rigid platform with some attached flexible appendages. During attitude maneuver, the excited vibration of flexible appendages would downgrade the performance of the spacecraft. In order to address this key issue, the idea of a coupling attitude controller, in which the positive position feedback control method is introduced to suppress the elastic vibration based on piezoelectric materials is proposed, while a robust H ∞ controller with the consideration of uncertainties is utilized to control the attitude. Also, the stability of the coupling attitude controller is analyzed. the methodology is implemented on a spacecraft attitude control problem in which the platform undergoes attitude maneuver. the simulation results show the efficiency of the coupling attitude controller. the proposed theory is meaningful for flexible spacecraft to achieve high pointing precision and stability.

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Performance Comparison Between Backstepping and P.I Regulators Methods For Four Level Flying Capacitor Inverter Based Active Power Filter control

Performance Comparison Between Backstepping and P.I Regulato...

引用

international conference on Advanced Systems and Electric Technologies (IC_ASET)

作者： Lazhar Manai Donia Hakiri Mongi Besbes Higher Institute of Information and Communication Technologies University of Carthage Hammam Chatt Tunisia Laboratory of Robotics Informatics and Complex Systems National Engineering School of Tunis University of Tunis Tunis Tunisia

ISBN: (数字)9781728163567

ISBN: (纸本)9781728163574

In this paper a control strategy using backstepping technique for multilevel inverter based active power filter control is developed. Performances comparison between backstepping strategy and PI regulators based methods is provided. Simulation results prove the robustness and accuracy of proposed technique compared with conventional methods.

关键词： Capacitors Backstepping Active filters Power harmonic filters Voltage control Multilevel inverters Harmonic analysis

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Motion control of wheeled mobile robot based on data driven 2019

Motion control of wheeled mobile robot based on data driven

引用

4th international conference on Automation, control and robotics engineering, CACRE 2019

作者： Shui, Yi Zhao, Tao Dian, Songyi College of Electrical Engineering Sichuan University Chengdu China

ISBN: (纸本)9781450371865

Aiming at the kinematics model of wheeled mobile robot, a data-driven T-S fuzzy predictive control method is proposed.. this method uses system identification to obtain the T-S fuzzy model of the car, i. e. the linear representation of the car's non-linear system. At the same time, the predictive control method can also be applied to the control when the system is constrained by input and output. the simulation results verify the effectiveness of the proposed generalized prediction method of T-S fuzzy model. © 2019 Association for Computing Machinery.

关键词： Linear systems

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Double inverted pendulum system control based on servo compensator 2019

Double inverted pendulum system control based on servo compe...

引用

4th international conference on Automation, control and robotics engineering, CACRE 2019

作者： Shi, Haibin Xu, Zhi Zou, Yuanbin Guo, Menghao College of Information Science and Engineering Northeastern University Shenyang Liaoning110004 China

ISBN: (纸本)9781450371865

control of rotary double inverted pendulum system is studied with the internal model principle. Based on the dynamic characteristics of the given signal variable and the internal model principle, the servo compensator is established. the servo compensator not only can make the angle of the rotary arm follow the given signal variable change, but also can make the rotary double inverted pendulum system asymptotically stable. then the reduced-order state observer reduces the use of detection devices in the system by estimating other state variables in the system. Finally, the simulation results are used to validate that the designed controller can realize the tracking control with zero steady error. © 2019 Association for Computing Machinery.

关键词： State estimation

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