this paper is a tutorial on the use of fuzzy logic system, providing a broad-scope overview, especially on fuzzy logic design, and also the results of research of fuzzy application in robotics. At first, the fuzzy set...
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ISBN:
(纸本)0819415472
this paper is a tutorial on the use of fuzzy logic system, providing a broad-scope overview, especially on fuzzy logic design, and also the results of research of fuzzy application in robotics. At first, the fuzzy sets and fuzzy rules are explained as well as fuzzy logic theory regarding our research. A neural network (connectionist) model for fuzzy logic control and decision system in their neural network structure and learning ability. the description of the system by using mathematical model, linguistic rules, and parameter distribution are discussed.
We have designed a neural network semiautonomous robotic arm controller. this controller performs end-effector path planning, inverse kinematics, and joint control to move the end- effector to a commanded position. We...
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ISBN:
(纸本)0819415472
We have designed a neural network semiautonomous robotic arm controller. this controller performs end-effector path planning, inverse kinematics, and joint control to move the end- effector to a commanded position. We have tested the adaptive neural joint controller and inverse kinematics in simulation. the joint controller has been tested on two real arms. these real arms are the Extendable Stiff Arm Manipulator (ESAM) and the Proto-Flight Manipulator Arm (PFMA). Both of these arms are very different, yet the same unmodified joint controller software can controlthem both. the controller has also shown tremendous adaptability to large payload variations. It has been shown to adapt to a 35 pound end-effector payload on the ESAM from a zeroed initial state. this ability to handle different arms and payloads is due to the fact that the controller makes no assumptions as to the arm's dynamics or payload. the same tests performed on a decentralized PD controller showed that the neural network controller is superior.
this conference proceedings contains 19 papers, all of which are separately indexed and abstracted. the selected contributions address the areas of design, process planning, production control, and manufacturing syste...
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this conference proceedings contains 19 papers, all of which are separately indexed and abstracted. the selected contributions address the areas of design, process planning, production control, and manufacturing systems design. the application of robotics and computer integrated manufacturing to these areas is presented.
the paper presents the recent sensor and knowledge-based robotics research being carried out at the PAMI Lab of Univerisity of Waterloo. the focus of the presentation will be on the machine vision and knowledge based ...
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ISBN:
(纸本)0938994581
the paper presents the recent sensor and knowledge-based robotics research being carried out at the PAMI Lab of Univerisity of Waterloo. the focus of the presentation will be on the machine vision and knowledge based system which provides intelligence control of manipulators in both a workcell environment and the Space Station setting. Under development is an experimental system capable of: a) recognizing and locating 3-D objects and obstacles with a single or multiple camera system;b) automatic model synthesis of 3-D objects;c) vision directed optimal manipulator trajectory planning and execution with obstacle and singularity avoidance capability. the vision system developed, coupled with sonar sensing, has been used for intelligent control and navigation of an autonomous roving platform and an autonomous roving robot. the former, known as PAMI Roving Platform, is a battery powered vehicle which has on-line knowledge acquisition capability for mapping its simple world environment via a sonar sensing system. Using a machine vision system, it can locate its position in the laboratory, plan the trajectory, guide itself to dock at a workstation. the latter, known as PAMI-GM Autonomous Mobile Robot is an automated guided vehicle (AGV) with a PUMA 550 mounted on it. It functions as a fully autonomous robot whose operating range can further be extended with worktools attached to the end effector joint. Application of this technology to industrial and space station projects will be included in the discussion.
Inspection of sub-sea welds requires the accurate placement of nondestructive examination (NDE) probes on the weld, in particular the weld roots. To achieve this the general form of the weld must be mapped and the roo...
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Inspection of sub-sea welds requires the accurate placement of nondestructive examination (NDE) probes on the weld, in particular the weld roots. To achieve this the general form of the weld must be mapped and the roots identified. this paper describes the development of a manipulator based automatic weld inspection system designed specifically for dealing withthe large, complex geometry, multipass welds which are typically found on off-shore structures. the system is operated under supervisory control. there are four stages to inspecting an underwater weld; location of the weld area, cleaning the weld area, precise location of the weld run and application of the NDE probe. It is the third of these which is addressed here. A laser generated structured light source is used to profile the weld, the image being detected by a CCD camera. Subsequent image processing identifies the roots and enables the general weld shape to be mapped in three-dimensional space. the entire assembly is mounted on the end of a PUMA 560 manipulator. the manipulator is guided around the weld by the information received from the weld mapping and the general trajectory of the weld estimated from the initial weld area location. To improve accuracy and minimise the effects of attenuation and back scatter it is necessary to approach the weld as closely as possible. this requires careful trajectory control making use of all available data, updating as appropriate, checking for possible collisions and avoiding arm singularities.< >
this conference proceedings volume contains 94 papers. the following topics are dealt with: hierarchical intelligent control;perception-representation-action triad;nonconventional cost functions;team decision making;s...
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ISBN:
(纸本)0818621087
this conference proceedings volume contains 94 papers. the following topics are dealt with: hierarchical intelligent control;perception-representation-action triad;nonconventional cost functions;team decision making;swarm intelligence;perceptual robotics;shape representation;shape extraction and analysis;active perception;acoustic perception;intelligent computing systems;knowledge representation for learning control;neurocontroller design;neural network applications;fault-tolerant control systems;noise identification in linear systems;evidential and fuzzy reasoning in intelligent control.
作者：
M. HagemannFaculty for Informatics
Institute of Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe Germany
A formal language for specifying and analyzing requirements is introduced. An integrated set of tools support the transition from ideas to a requirements specification. the system is implemented on an IBM PC. the spec...
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ISBN:
(纸本)0897912586
A formal language for specifying and analyzing requirements is introduced. An integrated set of tools support the transition from ideas to a requirements specification. the system is implemented on an IBM PC. the special characteristics of the language and the tools are their suitability for the description of embedded real-time systems. the most useful feature of the system is the possibility of graphical input and output as an alternative of the mere textual specification. Transformation between textual and graphical representation is done by the PROREC system.< >
this conference proceedings contains 57 articles dealing with robot vision and sensory controls. Among the areas covered are: international perspectives in vision and sensing;Sensory Feedback;Mobile/Intelligent System...
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ISBN:
(纸本)0903608960
this conference proceedings contains 57 articles dealing with robot vision and sensory controls. Among the areas covered are: international perspectives in vision and sensing;Sensory Feedback;Mobile/Intelligent Systems;Sensor systems;Sensory controlled production;Multisensor systems;Advanced industrial systems;Software;Computer Vision;and Industrial applications of robotics.
To make automation possible, the 'design for assembly' approach is becoming increasingly widespread in industry. At generation changes, efforts are made to improve product design with a view to automatic assem...
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ISBN:
(纸本)354015762X
To make automation possible, the 'design for assembly' approach is becoming increasingly widespread in industry. At generation changes, efforts are made to improve product design with a view to automatic assembly. the introduction by ASEA of the first IRB 1000 robot and standardised peripherals means that there is now a totally new way of carrying out flexible assembly work with short cycle times.
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