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检索条件"任意字段=6th International Conference on Informatics in Control, Automation and Robotics"

共 2796 条记录，以下是401-410 订阅

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Mechanical system modelling of robot dynamics using a mass/pulley model

Mechanical system modelling of robot dynamics using a mass/p...

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4th international conference on informatics in control, automation and robotics

作者： Stocco, L. J. Yedlin, M. J. Univ British Columbia Dept Elect & Comp Engn Vancouver BC V6T 1Z4 Canada

ISBN: (纸本)9789728865849

the well-known electro-mechanical analogy that equates current, voltage, resistance, inductance and capacitance to force, velocity, damping, spring constant and mass has a shortcoming in that mass can only be used to simulate a capacitor which has one terminal connected to ground. A new model that was previously proposed by the authors that combines a mass with a pulley (MP) is shown to simulate a capacitor in the general case. this new MP model is used to model the off-diagonal elements of a mass matrix so that devices whose effective mass is coupled between more than one actuator can be represented by a mechanical system diagram that is topographically parallel to its equivalent electric circuit model. Specific examples of this technique are presented to demonstrate how a mechanical model can be derived for both a serial and a parallel robot with both two and three degrees of freedom. the technique, however, is extensible to any number of degrees of freedom.

关键词： mass matrix inertia matrix MP model pulley differential transmission mechanical system representation robot dynamics impedance equivalent electric circuit

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Tuning of a Robotic Arm using PID controller for robotics and automation Industry 6

Tuning of a Robotic Arm using PID Controller for Robotics an...

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6th international conference on Energy, Power and Environment, ICEPE 2024

作者： Kulkarni, Palvi Kulkarni, Ovi Sayyad, Javed K. Symbiosis Institute of Technology Maharashtra Pune India

ISBN: (纸本)9798350379297

this paper discusses integrating robotics and automation systems to improve industrial automation's efficiency, precision, and reliability, focusing on the versatile robotic arm. the study explores Auto PID tuning for controlling robotic arms through MATLAB Simulink for dynamic performance optimization. the paper systematically examines PID implementation and tuning PID techniques and compares them to other controllers. In this way, it provides invaluable insights into automation control technologies. the research focuses on designing and auto-tuning a PID controller in real-time for efficient robotic arm *** PID controller is the best option for robotic arm operation as it allows dynamic parameter modification and precise trajectory tracking. Finally, the study stresses the PID controller's efficiency and effect in improving industrial robotic arms' performance. It thus enables smooth operation and increases productivity in the manufacturing environment. © 2024 IEEE.

关键词： Robotic arms

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Smart Wheelchairs: Using robotics to Bridge the Gap between Prototypes and Cost-effective Set-ups 16

Smart Wheelchairs: Using Robotics to Bridge the Gap between ...

引用

16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Aquilina, Matthew Bugeja, Marvin K. Fabri, Simon G. Univ Malta Dept Syst & Control Engn MSD-2080 Msida Malta

ISBN: (纸本)9789897583803

Wheelchairs have improved the lives of many people with limited mobility. Yet, to this day, conventional wheelchairs are still not a viable option for mobility independence in cases of people with severe weakness or poor coordination e.g. Amyotrophic Lateral Sclerosis (ALS). Smart wheelchairs (SWs) overcome many of these limitations by adding an extra layer of intelligence to the system. SWs have so far remained mostly inaccessible to the general public, due to a limited market presence and steep costs. this paper thus presents the design and implementation of a novel SW which makes the upgrade of a commercially available motorised wheelchair to a SW a much simpler process. the system is a complete implementation offering low-level hardware control, a specialised ROS architecture and autonomous navigation algorithms allowing shared user control or fully-autonomous movement. Contrary to most other published works, the focus of this paper is to implement a fully-featured working prototype with minimal hardware complexity and an efficient modular software development environment. Initial practical tests in typical use scenarios showcased the successful operation of the complete system. the developed prototype SW has the potential to restore autonomy to people who are unable to use conventional or powered wheelchairs.

关键词： Smart Wheelchair Assistive Technology ROS Autonomous Navigation Mapping Electronic Hardware Design

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the Dynamics Research of Quadruped robotics with Flexible Spine: A Review 6

The Dynamics Research of Quadruped Robotics with Flexible Sp...

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6th international conference on control, robotics and Cybernetics, CRC 2021

作者： Wang, Chunlei Li, Yunji Sun, Haifeng Hou, Xiaonan Fan, Chunhui Yang, Ya The 21st Research Institute of CETC Robotics Engineering Center Shanghai China

ISBN: (纸本)9781665424370

Flexible spine motion of the quadruped has a decisive influence on the explosive power, energy utilization efficiency, stability, terrain-pass ability, and balance ability of the quadruped during running motion. the passive dynamics models and analysis methods of quadruped robotics with flexible spine are summarized to infer the kinetic mechanism. Furthermore, the current situation and future development of the quadruped robotic prototype with flexible spine are analyzed. Finally, the improvement of dynamic performance brought by the flexible spine motion to the movement of the quadruped robotics is concluded. these provide a theoretical basis and technical guidance for the design and control algorithm of the quadruped robotics. © 2021 IEEE.

关键词： robotics

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Dynamic simulation model of PMA fuzzy adaptive control 6

Dynamic simulation model of PMA fuzzy adaptive control

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6th international Multi-conference on Complexity, informatics and Cybernetics, IMCIC 2015, Jointly with the 6th international conference on Society and Information Technologies, ICSIT 2015

作者： Pitel, Ján Hošovský, Alexander Tóthová, Mária Department of Mathematics Informatics and Cybernetics Faculty of Manufacturing Technologies Technical University of Košice Prešov080 01 Slovakia

ISBN: (纸本)9781941763162

An antagonistic pneumatic muscle actuator is non-linear system with dead zone, time delay and non-linear static characteristic with saturation due to non-linear characteristics of artificial muscles and also solenoid valves. A linear controller with fixed gains is not able to provide a satisfactory performance in the whole range of actuator. the dynamic simulation model of fuzzy adaptive control of such actuator was designed in Matlab/Simulink environment. An advanced geometric muscle model was used for subsystem of pneumatic muscle actuator in this simulation model.

关键词： Solenoid valves

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Robot program validation using virtualization, components, and physics engines

Robot program validation using virtualization, components, a...

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Joint 41st international Symposium on robotics, ISR 2010 and 6th German conference on robotics 2010, ROBOTIK 2010

作者： Jiang, WanLi Murphy, Stev Ekelund, Anders Miegel, Volker Yin, XingGuo Qi, LiWei ABB China Ltd Shanghai China ABB AB/Robotics Mölndal Sweden ABB Automation GmbH Friedberg Germany

ISBN: (纸本)9781617387197

this paper presents designs and concepts in the construction of a simulation tool for robot programming and validation. It describes how such tools can be integrated and the new capabilities and applications that come from such a tool where physical devices can be components with interaction in a physics simulation. the paper also outlines the advantages that can be gained by including physics simulation together with the traditional robot simulation/programming tools and virtual/ soft PLCS. Tools of this nature, utilizing the latest in components from many manufacturers, provides a clear step in the ability of industry to quickly adjust production and to quickly deliver validated solutions into production.

关键词： Robot programming

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A neural-control system for a humanoid artificial Arm

A neural-control system for a humanoid artificial Arm

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4th international conference on informatics in control, automation and robotics

作者： Folgheraiter, Michele Gini, Giuseppina Cavallari, Massimo Politecn Milan Dept Elect & Informat I-20133 Milan Italy

ISBN: (纸本)9789728865825

In this paper we illustrate the architecture and the main features of a bio-inspired control system employed to govern an anthropomorphic artificial Arm. the manipulation system we developed was designed starting from a deeply study of the human limb from the anatomical, physiological and neurological point of view. In accordance with the general view of the Biorobotics field we try to replicate the structure and the functionalities of the natural limb. thanks to this biomimetic approach we obtained a system that can perform movements similar to those of the natural limb. the control system is organized in a hierarchical way. the low level controller emulates the neural circuits located in the human spinal cord and is charged to reproduce the reflexes behaviors and to control the arm stiffness. the high level control system generates the arm trajectory performing the inverse kinematics and furnishing the instantaneous muscles reference position. In particular we implemented the Inverse kinematic using a gradient based algorithm;at each step the actuators movements are arranged in order to decrease the distance between the wrist and the target position. Simulation and experimental results shows the ability of the control system in governing the arm to follow a predefined trajectory and to perform human like reflexes behaviors.

关键词： Biorobotics artificial Arm neural controller humanoids robotics

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Application of Trajectory Optimization Method for a Space Manipulator with Four Degrees of Freedom 13

Application of Trajectory Optimization Method for a Space Ma...

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13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Rybus, Tomasz Seweryn, Karol Sasiadek, Jurek Z. Space Res Ctr CBK PAN Bartycka 18a Warsaw Poland Carleton Univ Dept Mech & Aerosp Engn Ottawa ON Canada

ISBN: (纸本)9789897581984

Planned active debris removal and on-orbit servicing missions require capabilities for capturing objects on Earth's orbit, e.g., by the use of a manipulator. In this paper we demonstrate the application of a trajectory optimization algorithm for free-floating satellite-manipulator systems in two cases: a planar system with 2 degrees of freedom manipulator and a spatial system with a manipulator having four degrees of freedom. For the case with planar system, results of experiments performed on an air-bearing microgravity simulator are shown. Quadratic norm connected with the power consumption of manipulator motors has been used as a cost functional that is minimized. Optimal trajectories are compared with straight-line trajectories and it is shown that the optimization allows reduction of the power use of manipulator motors (for the planar system 30 trajectories based on randomly selected initial and final end-effector positions were analysed and the cost functional was, on average, reduced by 49.4%). the presented method could be modified by using cost functional that would, e.g., minimize disturbance on the satellite.

关键词： Space robotics Free-floating Space Manipulator Trajectory Optimization On-orbit Servicing

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Radar and LiDAR Sensorfusion in Low Visibility Environments 13

Radar and LiDAR Sensorfusion in Low Visibility Environments

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13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Fritsche, Paul Kueppers, Simon Briese, Gunnar Wagner, Bernardo Leibniz Univ Hannover Inst Syst Engn Real Time Syst Grp Appelstr 9A D-30167 Hannover Germany Fraunhofer Inst High Frequency Phys & Radar Tech Fraunhoferstr 20 D-53343 Wachtberg Germany

ISBN: (纸本)9789897581984

LiDAR sensors are unable to detect objects that are inside or behind dense smoke, fog or dust. these aerosols lead to problems for environmental modeling with mobile robotic platforms. For example, if a robot equipped with a LiDAR is surrounded by dense smoke, it can neither localize itself nor can it create a map. Radar sensors, on the other hand, are immune to these conditions, but are unable to represent the structure of an environment in the same quality as a LiDAR due to limited range and angular resolution. In this paper, we introduce the mechanically pivoting radar (MPR), which is a 2D high bandwidth radar scanner. We present first results for robotic mapping and a fusion strategy in order to reduce the negative influence of the aforementioned harsh conditions on LiDAR scans. In addition to the metric representation of an environment with low visibility, we introduce the LRR (LiDAR-Radar-Ratio), which correlates with the amount of aerosols around the robot discussing its meaning and possible application.

关键词： Mobile robotics Low Visibility Environments FMCW-Radar LiDAR Sensorfusion Smoke Detection

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A spatial motion control to transfer an object between a pair of air jet 15

A spatial motion control to transfer an object between a pai...

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15th international conference on informatics in control, automation and robotics, ICINCO 2018

作者： Yoshinaga, Kazuki Iwaki, Satoshi Tsuchihashi, Naoki Abe, Nobukado Ikeda, Tetsushi Kosaku, Toshiharu Takaki, Takeshi Systems Engineering Robotics Laboratory Graduate School of Information Science and Technology Hiroshima City University Asaminami Hiroshima Hiroshima Prefecture Japan Hiroshima University Graduate school of Engineering Hiroshima Japan

ISBN: (纸本)9789897583216

We propose a method in which multiple nozzles are arranged consecutively along a conveying line and an object can be relayed one after another. In this paper, as a most essential technology for such a conveyor, we focus on the transferring control of the object between a pair of air jet on a vertical plane. We propose a relaying control method based on some natural behaviours of an object in a fluid field where two air jet streams collide. Some successful experiment results are shown. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Conveying

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