the behavior of an industrial robot may change under the influence of an external force. these robots are not able to absorb force disturbances, inducing displacements and deformation in their joints. For that reason,...
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ISBN:
(纸本)9781728161396
the behavior of an industrial robot may change under the influence of an external force. these robots are not able to absorb force disturbances, inducing displacements and deformation in their joints. For that reason, an error is generated between the programmed and executed trajectory, decreasing the precision of the operation. this can be associated withthe low stiffness of the manipulators. this work presents an industrial robot trajectory compensation model considering joints stiffness and the analysis of the impact on the final trajectory.
this paper proposes a method for robotic arms in realistic physical environment based on Gazebo. Parallel-Axis theorem is used to estimate the links' moment of inertia. controllers of the joints and the path plann...
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ISBN:
(数字)9781728161396
ISBN:
(纸本)9781728161396
this paper proposes a method for robotic arms in realistic physical environment based on Gazebo. Parallel-Axis theorem is used to estimate the links' moment of inertia. controllers of the joints and the path planning algorithm are the important parts of the system. ROS is chosen to organize task architecture considering its easier hardware abstraction. the simulation system is able to analysis and compare robotic arm's responses under different algorithms and different target pose. When several targets given at the same time, the system can analysis which is optimal concerning the path's length and velocity's change smoothness.
Swarm robotics is a biologically inspired approach that has been popularly used for tasks that require miniaturisation and fault tolerance at low cost. Constituents in a swarm communicate by means of stigmergy, a mech...
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ISBN:
(纸本)9781728161396
Swarm robotics is a biologically inspired approach that has been popularly used for tasks that require miniaturisation and fault tolerance at low cost. Constituents in a swarm communicate by means of stigmergy, a mechanism where common information is stored in the environment by the individuals. We model the storage and retrieval of this communication in swarm robotic systems with decentralisation using Blockchain Technology. Blockchain lets a group of agents reach consensus as well as exchange data without the need for a central authority, just like in a swarm. Construction of structures is a common problem that can be solved by using swarm robotics. In this paper, we apply the blockchain approach to decentralisation of swarm systems to construct 2-D structures with blocks in a multi-bot environment as a Proof of Concept.
this paper presents the hardware design of three-axis NC system based on embedded system , designs the ARM(Advanced RISC Machine) + FPGA(Field Programmable Gate Array) hardware architecture, builds the software develo...
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the automatic design of the control program of the vehicle robot is presented in this study. LEGO MINDSTORM EV3 and RVW Level Builder are used for this study. the control program of EV3 is designed automatically by us...
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Robust navigation is a key ability for agricultural robots. Such robots must operate safely minimizing their impact on the soil and avoiding crop damage. this paper proposes a method for unified incorporation of the a...
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ISBN:
(纸本)9781728161396
Robust navigation is a key ability for agricultural robots. Such robots must operate safely minimizing their impact on the soil and avoiding crop damage. this paper proposes a method for unified incorporation of the application-specific constraints into the navigation system of robots deployed in different agricultural environments. the constraints are incorporated as an additional cost-map layer into the ROS navigation stack. these so-called Agri-Cost-Maps facilitate the transition from the tailored navigation systems typical for the current generation of agricultural robots to a more flexible ROS-based navigation framework that can be easily deployed for different agricultural applications. We demonstrate the applicability of this framework in three different agricultural scenarios, evaluate its benefits in simulation and demonstrate its validity in a real-world setting.
Detailed analysis is given to kinematics of a humanoid robot manipulator. Forward and inverse kinematics of the robot manipulator is performed through Denevit and Hartenberg method. Geometry transformation and square ...
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ISBN:
(纸本)9781424451944
Detailed analysis is given to kinematics of a humanoid robot manipulator. Forward and inverse kinematics of the robot manipulator is performed through Denevit and Hartenberg method. Geometry transformation and square transformation methods are put forward in order to separate joint variables from kinematic equations and kinematics equations are obtained, whereupon mathematic formulas are provided for humanoid robot manipulator control. Simulation results verify the effectiveness of kinematics equations.
the dynamic analysis is the basic element of the mechanical design and control of parallel mechanisms. the parallel robots dynamics requires a great deal of computing as regards the formulation of the generally nonlin...
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ISBN:
(纸本)9789898111319
the dynamic analysis is the basic element of the mechanical design and control of parallel mechanisms. the parallel robots dynamics requires a great deal of computing as regards the formulation of the generally nonlinear equations of motion and their solution. In this paper a solution for solving the dynamical model of a 6-DOF parallel structure destined to helicopter flight simulation is presented. the obtained dynamical algorithms, based on the kinematical ones, offer the possibility of a complex study for this type of parallel structure in order to evaluate the dynamic capabilities and to generate the control algorithms.
this paper intends to provide a basis for the discussion and development of an Open Source Initiative for a "Framework for Distributed Industrial automation and control (4DIAC) based on the new EEC 61499 standard...
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ISBN:
(纸本)9781424421701
this paper intends to provide a basis for the discussion and development of an Open Source Initiative for a "Framework for Distributed Industrial automation and control (4DIAC) based on the new EEC 61499 standard. the general understanding of the authors is that an open source strategy is an adequate means for pushing current developments within the industrial automation domain and bringing together interested partners to focus and unite their concerns on a distributed and flexible automation environment. One main point is also to provide a stable basis for industrial appliances and further research into next generation distributed automation and control systems based on the IEC 61499 standard. A look at the current status of the developments for IEC 61499 shows, that these targets may not have been attained. In the opinion of the authors, the targets presented above need a common and publicly available reference framework. therefore the general idea of the 4DIAC initiative is to provide such an open framework for the IEC 61499 standard that gives the opportunity to establish an automation and control environment based on the three main targets, portability, configurability and interoperabitity.
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