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检索条件"任意字段=4th International Conference on Robotics and Control Engineering, RobCE 2024"

共 3776 条记录，以下是3481-3490 订阅

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Design of robotic end-effector for milling force control 4

Design of robotic end-effector for milling force control

引用

4th international conference on Applied Materials and Manufacturing Technology (ICAMMT)

作者： Xie, Yinhui Zou, Wenbin Yang, Yongtai Lia, Jun Chinese Acad Sci Quanzhou Inst Equipment Mfg Quanzhou Peoples R China

In order to realize the precision machining of high-performance materials, a robotic end-effector for milling force control is proposed. Two kinds of end-effectors which are coaxial and non-coaxial structures are designed according to types of motorized spindle and force sensor. the maximum milling force is obtained that is satisfied the safety requirements of force sensor. And the three-dimensional models of coaxial and non-coaxial structure are imported into ABAQUS software for finite element analysis. the simulation results show the non-coaxial structure is better than coaxial structure, and it is suitable to be installed in robot to machine high performance parts.

关键词： Force control

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Design of A Novel Hybrid Robot for Percutaneous Vertebroplasty

Design of A Novel Hybrid Robot for Percutaneous Vertebroplas...

引用

international conference on robotics and Automation engineering (ICRAE)

作者： Pengfei Cheng Yongyi He Xiangwen Fan Baoquan Xin Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China Orthopaedic Oncology Center Shanghai China

ISBN: (数字)9781728147406

ISBN: (纸本)9781728147413

the traditional percutaneous vertebroplasty (PVP) could induce massive radiation and side injuries to the tissues or nerves around the fractured centrum for an inaccurate route plan. In this paper, a novel hybrid robot is proposed to assist the surgeon locate the lesion and give appropriate route plan fast to improve the treatment efficiency of PVP. this hybrid robot has been formed by a combination of a three-coordinate platform and a Stewart platform. Inverse kinematic and route plan method of the robot was introduced. A set of experiments was conducted to evaluate the functioning. the results and the analysis showed that the robot could guide the puncture in PVP operation accurately to avoid the extra adjustment under proper control within specified time.

关键词： Robot kinematics Surgery Probes Fasteners Navigation End effectors

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the Real-time control Framework for a Modular Snake Robot

The Real-time Control Framework for a Modular Snake Robot

引用

international conference on robotics and Automation engineering (ICRAE)

作者： Yunhu Zhou Zhiqi Li Yuanfei Zhang Fenglei Ni Yongjun Sun Hong Liu School of Mechatronics Engineering Harbin Institute of Technology Harbin P.R. China

ISBN: (数字)9781728147406

ISBN: (纸本)9781728147413

the Robot Operating System (ROS) is widely adopted for the control of the robots which is usually running on the Linux system with a standard kernel. But snake robot has a high requirement for the real-time of the control framework since it has several modules which contain a variety of sensors. To solve the problem, the control frame based on the Xenomai real-time system is developed by inserting a patch to the kernel and the real-time performance can be further enhanced by priority scheduling. the proposed control framework of the snake robot is applied to deal with the non- real-time communication thread with ROS packages and the real-time communication thread with the joint controller. So the application programs based on the proposed control framework can realize the multi-task function and be compatible with the ROS system. At last, the experiments validate that the control framework can control the hardware of the snake robot efficiently.

关键词： Real-time systems Snake robots Linux Field programmable gate arrays Sensors Software Hardware

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An Overview of Speech Recognition Technology

An Overview of Speech Recognition Technology

引用

international conference on Cybernetics, robotics and control (CRC)

作者： Xinman Zhang Yurui Peng Xuebin Xu School of Electronics and Information Engineering MOE Key Lab for Intelligent Networks and Network Security Xi'an Jiaotong University Xi'an China Guangdong Xi'an Jiaotong University Academy Xi'an Jiaotong University Foshan

ISBN: (数字)9781728146201

ISBN: (纸本)9781728146218

With the speech recognition research intensifying gradually in recent years, it is particularly important to grasp the research direction of this filed. this paper summarizes the theoretical algorithms in the development of speech recognition. Firstly, we introduce the specific process of speech recognition, including biometrics acquisition, preprocessing, feature extraction, biometrics pattern matching and recognition results. Besides, we emphatically introduce feature extraction and matching recognition algorithm. We also introduce the application platform, and give the specific application scenarios. Finally, we put forward the shortcomings of the research and prospect the future development trend.

关键词： Speech recognition Feature extraction Authentication Biometrics (access control) Mel frequency cepstral coefficient Support vector machines

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A Novel Loop control Method of Full Attitude Inertial Stabilization Platform

A Novel Loop Control Method of Full Attitude Inertial Stabil...

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international conference on robotics and Automation engineering (ICRAE)

作者： Jing Li GuoXin Zhao Pei Yu Information Engineering College Beijing Institute of Petrochemical Technology Beijing China Beijing Aerospace Automatic Control Institute Beijing China

ISBN: (数字)9781728147406

ISBN: (纸本)9781728147413

three-axis four-frame inertial stabilized platform can ensure that the carrier has omni-directional maneuverability. An innovative control method combining robust controller and observer is proposed in this paper for loop control of full attitude inertial stabilization platform under the unknown model, uncertain parameters and external disturbances. Firstly, the dynamics and kinematics of the full attitude stabilization platform are analyzed. the mathematical model is established and its controllability and observability are analyzed. Secondly, added unknown state is estimated using Luenberger observer because only the output angle of the gyroscope can be measured directly. Finally, the robust controller is designed by backstepping and sliding mode method which can estimate the uncertain parameters and reduce the influence of external disturbance on the stabilization loop. By comparing with the traditional method, the simulation results show that the proposed algorithm can guarantee a good performance of tracking and robustness.

关键词： Gyroscopes Angular velocity Mathematical model Observers Torque Attitude control Backstepping

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A Human-Aided Learning Approach to Optimal control of Human-Robot Systems

A Human-Aided Learning Approach to Optimal Control of Human-...

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international conference on robotics and Automation engineering (ICRAE)

作者： Rizheng Tan Zhiheng Xu School of Mechanical Engineering Chongqing University Chongqing China School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (数字)9781728147406

ISBN: (纸本)9781728147413

Human-Robot Systems (HRS) play a significant role in many applications, including manufacturing, critical infrastructure, and civil applications. However, conventional HRSs require predetermined reference before the start of the mission, which restricts the flexibility of the HRSs. In this paper, we use a recursive least-square approach to design Human-Aided Learning (HAL) algorithm, which allows the robot to learn the reference via the human inputs and system outputs. With multiple learning iterations, the robot can determine the reference. After estimating the reference, the robot can execute the tasks independently. We also design a low-pass filter to remove the impact of a high-frequency noise introduced by the human inputs. Finally, we use simulation to evaluate the performance of the proposed HAL algorithm.

关键词： Trajectory Task analysis Impedance Manipulator dynamics Service robots

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Typical Computational-Experimental Tasks and Research Work of Students in the Course of robotics 4

Typical Computational-Experimental Tasks and Research Work o...

引用

4th international conference on Information Technologies in engineering Education (Inforino)

作者： Kapustina, O. M. Tsyganov, D. A. Natl Res Univ Moscow Power Engn Inst Inst Power Machinery & Mech Moscow Russia

ISBN: (纸本)9781538658321

the formulation and methodology of performing a computational-experimental task for students of robotics specialties in the study of kinematics of robots are presented. In the computational task with the help of the Mathematica program, the parameters of the end-effector location and the platform coordinates of the kinematically redundant KUKA youBot mobile manipulator under which there are solutions to the inverse kinematics problem are selected. A computer model of the robot is constructed in configurations corresponding to the exact solutions found in solving the inverse problem of kinematics. then the real robot is exposed in the same positions. the results of the numerical and the real experiment are compared. the Mathematica program for simulation and the C ++ control program that implement KUKA youBot kinematics are developed within the framework of students' research work.

关键词： computational-experimental task robotics kinematic redundancy the inverse problem of kinematics mobile manipulator KUKA youBot

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Significance of robotics in Manufacturing, Energy, Goods and Transport Sector in Internet of things (IoT) Paradigm 4

Significance of Robotics in Manufacturing, Energy, Goods and...

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4th international conference on Computing Communication control and Automation (ICCUBEA)

作者： Patel, Ankit R. Azadi, Sahar Babaee, Mohammad Hossein Mollaei, Nafiseh Patel, Kalpesh L. Mehta, Dhirendra R. Univ Minho Dept Ind Elect Guimaraes Portugal L C Inst Technol Dept Comp Engn Mahesana Gujarat India NMIMS Univ Dept Elect & Telecommun Engn Mumbai Maharashtra India

ISBN: (纸本)9781538652572

the advent of robotics itself a revolutionary process or change. It affect in factory automation in such a way that the process to the product path in manufacturing is totally changed. this operation performed by the robots and intelligent systems change the perspective of the industry by the end of 20th century. the field of robotics challenges among researchers, academicians and in the industry since last two decades. this is due to its vast application in every field includes medical, manufacturing, engineering, goods and transportation, defence, smart cities, etc. Today, robotics/robots are not only bounded by the process automation, but they are integrated part of Internet of things (IoT) to provide some unsolved solutions. A robot as a service having all key features of IoT like autonomous, mobile, sensing and action taking. the infrastructure facility provided by the IoT facilitate to provider to use as a connected things and establish connections with other things using Internet, either as a end user and/or source of so called information. this paper clearly describes how robotics and IoT work together at different platforms.

关键词： Mobile and Humanoid Robots Human Robot Interaction (HRI) Robot Operating Systems (ROS) Internet of things (IoT) Industry 4.0 Advance Metering Infrastructure Transportation Autonomous and Semi-Autonomous Vehicles Logistics

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Autonomous Step Climbing Strategy Using a Wheelchair and Care Robot

Autonomous Step Climbing Strategy Using a Wheelchair and Car...

引用

international conference on Cybernetics, robotics and control (CRC)

作者： Hidetoshi Ikeda Takafumi Tohyama Daisuke Maki Keisuke Sato Eiji Nakano Department of Mechanical Engineering National Institute of Technology Toyama College Toyama-shi Japan Department of Electrical and Control Systems Engineering National Institute of Technology Toyama College Toyama-shi Japan Robofesta org. Narashino-shi Japan

ISBN: (数字)9781728146201

ISBN: (纸本)9781728146218

this report describes a cooperative step climbing strategy using an electric wheelchair and autonomous robot. the robot, which was developed by our research group, has a wheeled travel mechanism and dual manipulators. the wheelchair is a commercially available model modified with added sensors, circuits, and batteries. When the wheelchair and robot encounter a step, the robot grasps the wheelchair and they help each other to ascend the step. In the step climbing process, the wheelchair front wheels are lifted using the difference between the wheelchair and robot velocities, and the front wheels are placed on the step. To make the rear wheels of the wheelchair climb the step, the robot upper arms push against the back of the wheelchair, which is like the motion of man pushing a wheelchair up the step. Similarly, the robot front and rear wheels climb the step using assistance from the wheelchair. We developed an automatic control system that realizes the cooperative step climbing of the wheelchair and robot and also simplifies the operation of both vehicles. An experiment was conducted to demonstrate that the wheelchair and robot can successfully maneuver up a step.

关键词： Wheelchairs Mobile robots Wheels Robot sensing systems Manipulators Sensor systems

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control design for a class of nonlinear systems based on external disturbance observer 2018

Control design for a class of nonlinear systems based on ext...

引用

4th international conference on Mechatronics and robotics engineering, ICMRE 2018

作者： Nam, Dao Phuong Tan, Do Trong thang, Bui Minh thanh, Nguyen Truong Ha Noi University of Science and Technology 01 Dai Co Viet Hanoi Viet Nam

ISBN: (纸本)9781450363655

this paper presents some analysis about the essential role of finite time convergence in sliding mode control and effects of selected parameters on control performance. the main technique of this paper based on properties of differential equation. Moreover, several exploration in depending of parameters are given out. Simulation results pointed out the good behaviour of the proposed methods for flexible joint manipulator systems. © 2018 Association for Computing Machinery.

关键词： Sliding mode control

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