In this paper a new and efficient algorithm to solve a closed-form direct kinematics solution of the general 6-6 planar Stewart platform is presented. the main idea is to compute the reduced Groebner basis under degre...
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ISBN:
(纸本)9781424447947
In this paper a new and efficient algorithm to solve a closed-form direct kinematics solution of the general 6-6 planar Stewart platform is presented. the main idea is to compute the reduced Groebner basis under degree lexicographic ordering for the closed-form equations by using computer algebra firstly. Secondly, select 10 Groebner bases from the obtained 41 ones and construct a 10times10 Sylvester's matrix, which is relatively small in size. A 20th degree univariate equation is obtained from the determinate of the matrix and all 40 sets closed-form direct kinematics solutions are obtained. the proposed algorithm is simple and reduces greatly the computation burden than the existed methods. the process also shows that there exist many different resultants that will lead to the same univariate equation. the same results can be obtained by using the continuation method. Finally a numerical example is given to verify the algorithm and its results without extraneous roots agree withthe original equations.
Nowadays, the carpet quality analysis is determined in industry by human experts, because the automated assessment is not capable of matching the human expertise. therefore, the carpet company demands a reliable and e...
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Nowadays, the carpet quality analysis is determined in industry by human experts, because the automated assessment is not capable of matching the human expertise. therefore, the carpet company demands a reliable and economic standardization of carpet wear level. this paper presents a new strategy for analyzing and classifying the texture of the wear carpet surface of 3D image, where 3D image is produced by 3D laser scanner. 2D image is obtained from 3D data resample on different grid sizes. the features extracted are based on Haralick descriptors of co-occurrence matrix. these features are used as inputs to a classifier system, which is based on support vector machine (SVM). Multi-class classification training based on SVM is applied. the performance of the new technique proposed gives an average of over 92% correct labeling.
this paper presents a method for detecting people from images taken with a camera mounted on a robot. the purpose of the detection is avoiding people collision while robot is moving within an unknown environment. It c...
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this paper presents a method for detecting people from images taken with a camera mounted on a robot. the purpose of the detection is avoiding people collision while robot is moving within an unknown environment. It combines two algorithms for this purpose. First, the appearance of people is learned using a set of Haar-like features and the Adaboost algorithm. this information is embedded by building a classifier to differentiate people appearances by other structures. When an image is analyzed for detecting people, regions which contain vertical structures are determined using image gradients. those regions which have a specific aspect-ratio are selected and the classifier is applied on them. the classifier marks the regions which contain people-like structures. Because this method is desired to be integrated in an autonomous robot navigation system for a dynamic environment, particular attention is paid to increase the speed of the detection as much as possible.
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.
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.
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.
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.
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.
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