this work proposes a method in order to choose suitable controllers supported by the measuring of the slipping and skidding variations, i.e., When the nonholonomic kinematic constraints are not fully satisfied. the ro...
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the visual alignment robot system for display and semiconductor fabrication process largely consists of multiaxes precision stage and vision peripherals. One of the central issues in a display or semiconductor mass pr...
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ISBN:
(纸本)9789728865832
the visual alignment robot system for display and semiconductor fabrication process largely consists of multiaxes precision stage and vision peripherals. One of the central issues in a display or semiconductor mass production line is how to reduce the overall tact time by making a progress in the alignment technology between the mask and panel. In this paper, we suggest the kinematics of the 4PPR parallel alignment mechanism with four limbs unlike usual three limb cases and an effective pattern recognition algorithm for alignment mark recognition. the inverse kinematic solution determines the moving distances of joint actuators for an identified mask-panel misalignment. Also, the proposed alignment mark detection method enables considerable reduction in computation time compared with well-known pattern matching algorithms.
Modular reconfigurable robot (MRR) with many modules has the ability to form a large variety of robot configuration. For MRR, it is very difficult to design effective controller due to diverse configurations. In this ...
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Route optimization technique helps to optimize the media path and to lessen the propagation delay time between two communicating nodes. For PMIPv6 technology, this route optimization technique is applicable to the sce...
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ISBN:
(纸本)9781424451944
Route optimization technique helps to optimize the media path and to lessen the propagation delay time between two communicating nodes. For PMIPv6 technology, this route optimization technique is applicable to the scenarios, i.e., a separate MAG scenario and a sharing MAG scenario whose two communication terminals register different LMAs respectively. In this paper, two route optimum mechanisms for local communication on PMIPv6 is presented for forwarding data packets rapidly. For the separate MAG scenario, a bidirectional tunnel is set up between two peer MAGs. A MAG address discovery mechanism is presented because its address is a prerequisite of route optimum in the scenario. An internal binding mechanism is proposed for the route optimum on the sharing MAG scenario. the set up and maintenance of localized routing optimum, which allows forwarding of data packets between mobile nodes and correspondent nodes directly without involvement of the LMA in forwarding, can makes no difference for data packet forward, decrease packet loss, increase throughput or diminish transport delay.
Environmental research is an area where robotics platforms can be applied as solutions for different problems to help or automate certain tasks, withthe purpose of being more efficient or also safer for the researche...
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Environmental research is an area where robotics platforms can be applied as solutions for different problems to help or automate certain tasks, withthe purpose of being more efficient or also safer for the researchers involved. this paper presents the Kamanbare platform. Kamanbar6 is a bioinspired robotic platform, whose main goal is to climb trees for environmental research applications, applied in tasks such as gathering botanical specimen, insects, climatic and arboreal fauna studies, among others. Kamanbare is a platform that provides flexibility both in hardware and software, so that new applications may be developed and integrated without the need of extensive knowledge in robotics.
A new concept is developed that enables users to access remote virtual and real facilities through a Web-based collaborative intelligent environment. the developed system integrates a virtual laboratory with distribut...
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ISBN:
(纸本)9781424421701
A new concept is developed that enables users to access remote virtual and real facilities through a Web-based collaborative intelligent environment. the developed system integrates a virtual laboratory with distributed real facilities to help in transferring theoretical knowledge into practice and enables geographically dispersed people to interact by immersing them in a shared 3D intelligent and collaborative environment. this intelligent environment enables individual users manipulating data, manipulating objects, remote diagnostics and analyses, and simultaneously control, monitor, view and discuss results within a team as if they are all were interacting with each other within the same place. this concept has been implemented and virtual robots that mimic a real robot structure with its control panel, operations and control features have been integrated withthe environment. Authorized users can access both physical and virtual robots. the physical robots that can be fully distributed in terms of space have been integrated to facilitate tele- and collaborative control operations in real time through the developed interactive 3D intelligent and environment. three modes of operations have been implemented, individual robot training mode through virtual robot models, multi user mode, and group-based training by instructor. In addition, the control of the real robot is facilitated by simulation and direct control while enabling monitoring during execution on real robots.
the proceedings contain 60 papers. the topics discussed include: tuning of a robotic arm using PID controller for robotics and automation industry;antilock braking system on industrial heavy vehicle using PID-based ba...
ISBN:
(纸本)9798331518158
the proceedings contain 60 papers. the topics discussed include: tuning of a robotic arm using PID controller for robotics and automation industry;antilock braking system on industrial heavy vehicle using PID-based bang-bang control;adaptive neural network dynamic surface trajectory tracking control for underactuated autonomous underwater vehicles;the brain-inspired cooperative shared control framework for brain-machine interface;precise motion control of omnidirectional mobile robots for nuclear power inspection;adaptive fuzzy sliding mode control for coal silo cleaning robots simulation, and performance analysis;and an adaptive sliding mode control based on an improved reduced-order proportional-integral observer with an improved super-twisting observer.
Nowadays, robotics is increasing its importance for the marine environment in our society. It allows to perform surveillance and data sampling tasks reducing the current cost of these tasks. this paper presents the de...
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ISBN:
(纸本)9789897581984
Nowadays, robotics is increasing its importance for the marine environment in our society. It allows to perform surveillance and data sampling tasks reducing the current cost of these tasks. this paper presents the design of a prototype of an Autonomous Surface Vessel (ASV) based on catamaran shape. It uses the screw theory for the propulsion system, which provides high manoeuvrability to the vessel. Furthermore, the parts of the ASV are designed to be printed by a RepRap 3D printer. this gives flexibility to check the performance of the vessel. Also the software control scheme of the vessel is presented.
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.
For the inverse dynamic analysis of the 6 channel half-axle test rig, the inverse dynamics model is established for the series-parallel hybrid mechanism by using the closed-loop vector chain method and Kane's meth...
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