A collision avoidance path planning problem is considered and a simple solution which uses piecewise constant controls generated by discretizing a feasible equilibrium path is presented and investigated.
ISBN:
(纸本)9789898111326
A collision avoidance path planning problem is considered and a simple solution which uses piecewise constant controls generated by discretizing a feasible equilibrium path is presented and investigated.
the paper describes the automation of the shoe grinding process using an industrial robot. One of the major problems of flexible automation using industrial robots is how to avoid joint limitations, singular configura...
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ISBN:
(纸本)9789898111319
the paper describes the automation of the shoe grinding process using an industrial robot. One of the major problems of flexible automation using industrial robots is how to avoid joint limitations, singular configuration and obstacles. this problem can be solved using kinematically redundant robots. Due to the circular shape of the grinding disc, the robot becomes kinematically redundant. this task redundancy was efficiently handled using Virtual mechanism approach, where the tool is described as a serial mechanism.
September 17-19,2011,Qingdao,China http://***/the 5th IEEE international Joint conference on Cybernetics and Intelligent Systems and robotics,automation and Mechatronics(CIS-RAM 2011)will be held in Qingdao,China,duri...
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September 17-19,2011,Qingdao,China http://***/the 5th IEEE international Joint conference on Cybernetics and Intelligent Systems and robotics,automation and Mechatronics(CIS-RAM 2011)will be held in Qingdao,China,during September 17-19,2011.
In this paper we present an experimental test bed for the development and evaluation of control systems for unmanned helicopters. the test bed consists of a small unmanned helicopter, mounted on a flying stand that pe...
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ISBN:
(纸本)9789898111319
In this paper we present an experimental test bed for the development and evaluation of control systems for unmanned helicopters. the test bed consists of a small unmanned helicopter, mounted on a flying stand that permits all possible movements but prevents the helicopter from damaging or crashing. A fuzzy controller is developed in MATLAB and tested in the helicopter using the test bed. the controller is able to perform hovering and altitude control. Experimental results are presented for various test cases.
this paper describes a robust localization system, similar to the used by the teams participating in the Robocup Small size league (SLL). the system, developed in Object Pascal, allows real time localization and contr...
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ISBN:
(纸本)9789898111319
this paper describes a robust localization system, similar to the used by the teams participating in the Robocup Small size league (SLL). the system, developed in Object Pascal, allows real time localization and control of an autonomous omnidirectional mobile robot. the localization algorithm is done resorting to odometry and global vision data fusion, applying an extended Kalman filter, being this method a standard approach for reducing the error in a least squares sense, using measurements from different sources.
Robots intended for human-robot interaction are currently designed to fill simple roles, such as task completer or tool. the design emphasis remains on the robot and not the interaction, as designers have failed to re...
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ISBN:
(纸本)9789898111319
Robots intended for human-robot interaction are currently designed to fill simple roles, such as task completer or tool. the design emphasis remains on the robot and not the interaction, as designers have failed to recognize the influence of robots on human behavior. Cybernetic models are used to critique existing models and provide revised models of interaction that delineate the paths of social feedback generated by the robot. Proposed robot roles are modeled and evaluated. Features that need to be developed for robots to succeed in these roles are identified and the challenges of developing these features are discussed.
robotics is an interesting but difficult area for digital artists who generally don't have much academic background on electronics or computer programming. Digital art students normally use high-level application ...
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ISBN:
(纸本)9789898111319
robotics is an interesting but difficult area for digital artists who generally don't have much academic background on electronics or computer programming. Digital art students normally use high-level application to program their visual and sonorous installations. this paper presents LegOSC - a tool that allows the control of the Mindstorms NXT robots from any application that uses the Open Sound control protocol which is implemented by most of those high-level applications. this allows artists to create works which incorporate robotic parts using the familiar programming environment.
this paper analyzes the comfort of wheelchair users when a sliding-mode trajectory-tracking controller is used. the transmission of the horizontal (fore-and-aft) vibration to the head-neck complex (HNC) in the seated ...
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ISBN:
(纸本)9789898111319
this paper analyzes the comfort of wheelchair users when a sliding-mode trajectory-tracking controller is used. the transmission of the horizontal (fore-and-aft) vibration to the head-neck complex (HNC) in the seated human body may cause unacceptable discomfort and motion sickness. A double-inverted pendulum model with two degrees of freedom is considered as a model for the HNC. the user comfort is examined not only in the time domain (using the fourth power vibration dose value), but also in the frequency domain (using the cross-spectral density method). For measuring the acceleration of the wheelchair, along the trajectory, an inertial measurement unit was used.
In the near future, service robots will support people with different handicaps to improve the quality of their life. One of the required key technologies is to setup the grasping ability of the robot. this includes a...
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ISBN:
(纸本)9789898111319
In the near future, service robots will support people with different handicaps to improve the quality of their life. One of the required key technologies is to setup the grasping ability of the robot. this includes an autonomous object detection and grasp motion planning to fulfil the task of providing objects from any position on a table to the user. this paper presents a complete system, which consists of a fixed working station equipped with a laser-range scanner, a seven degrees of freedom arm manipulator and an arm prothesis as gripper. the contribution of this work is to use only one sensor system based on a laser-range scanning head to solve this challenge. the goal is that the user can select any defined object on the table and the robot arm delivers it to a target position or to the disabled person.
In this paper we present an approach for multi-robot cooperative exploration based on the potential field generated by several basic behaviours. When an unknown environment is explored the uncertainty in the localizat...
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ISBN:
(纸本)9789898111319
In this paper we present an approach for multi-robot cooperative exploration based on the potential field generated by several basic behaviours. When an unknown environment is explored the uncertainty in the localization normally grows, this fact may cause the failure of the Simultaneous Localization and Mapping (SLAM) algorithm, and thus constructing an useless and inaccurate map. the exploration algorithm described here considers the current knowledge of the environment, the location of the robots and the uncertainty in their positions in order to return to previously explored areas when it is needed. these actions definitely help the SLAM algorithm to build a precise map. Several simulations are presented that demonstrate the validity of the approach.
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