In the paper a description of a planar holonomic N-link manipulator relative to a path is presented. The path parametrization method is based on a non-orthogonal projection of the robot on the path and the Serret-Fren...
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In the paper a description of a planar holonomic N-link manipulator relative to a path is presented. The path parametrization method is based on a non-orthogonal projection of the robot on the path and the Serret-Frenet frame moving along a curve. The new control algorithm for N-link manipulators is proposed. The effectiveness of the algorithm for a planar three-link manipulator is examined by computer simulations.
Precise 6D pose estimation of the target object is an essential prerequisite for robots to understand the real world. Previous 6D pose estimation methods based on 3D data usually have problems such as long model train...
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There is method for real time frequency analysis of the electromyogram is described in article. This method is proposed to use in control systems of advanced robotics for medical and healthcare applications. Method co...
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There is method for real time frequency analysis of the electromyogram is described in article. This method is proposed to use in control systems of advanced robotics for medical and healthcare applications. Method consists of realtime frequency estimation with preliminary using of band-pass filter. The method is easy to program and does not require any additional resources. The article gives an example of using this method in classification of movements problem which is actual for robotics and human-machine interfaces.
Node deployment is a key issue in building sensor/actuator networks. To improve coverage and reduce costs, the use of autonomous mobile robotic nodes is an attractive option. This paper presents two new virtual force-...
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The production of power electronic modules requires cost-effective manufacturing of customer-specific small batches to meet today's requirements. Consequently, traditional methods of production are being replaced ...
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ISBN:
(纸本)9798350315684
The production of power electronic modules requires cost-effective manufacturing of customer-specific small batches to meet today's requirements. Consequently, traditional methods of production are being replaced by highly flexible and fully automated manufacturing processes. This paper introduces a novel approach: a robot-assisted laser beam welding method designed to join copper clips with power modules' Direct Bonded Copper substrates and power terminals. The proposed setup involves using two six-axis articulated robots to assemble the components. Additionally, stationary scanner optics are utilized to guide a laser beam with a wavelength of 515 nm in order to establish the connections. To investigate the feasibility of the proposed approach initial experiments which focus on examining the influence of the pick and place process on the laser beam welding were conducted. The results demonstrate the feasibility of the manufacturing concept while showing a correlation between the geometry of the copper clamp, the clamping force and the resulting gap between the welded copper clamp and the Direct Bonded Copper. The findings obtained from these experiments contribute valuable insights toward the development of a flexible and reliable production method for power electronic modules.
The main aim of this paper is to present a new start-aid method to control servo drive in case of very small velocity and distance changes are required. Using resetting of integration in the position controller and fr...
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The main aim of this paper is to present a new start-aid method to control servo drive in case of very small velocity and distance changes are required. Using resetting of integration in the position controller and friction compensation as well as the initial phase correction - start-aid methods are compared and results of simulations are presented. Moreover, models of the drive and friction are delivered and schemas of control systems are presented.
A three-dimensional shape control algorithm for soft robot is proposed. Considering the characteristics of the soft robot with infinite degrees of freedom, the traditional control method for rigid robot is not applica...
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This paper addresses the mission planning issues for guiding a group of UAVs to carry out a series of tasks, namely classification, attack, and verification, against multiple targets. The flying space is constrained w...
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ISBN:
(纸本)9781467347082;9781467347075
This paper addresses the mission planning issues for guiding a group of UAVs to carry out a series of tasks, namely classification, attack, and verification, against multiple targets. The flying space is constrained with the presence of flight prohibit zones (FPZs) and enemy radar sites. The solution space for task assignment and sequencing is modeled with a graph representation. With a path formation based on Dubins vehicle paths, a genetic algorithm (GA) has been developed for finding the optimal solution from the graph to achieve the following goals: (1) completion of the three tasks on each target, (2) avoidance of FPZs, (3) low level of exposure to enemy radar detection, and (4) short overall flying path length. A case study is presented to demonstrate the effectiveness of the proposed methods.
A problem in the development of intelligent robots is that efficient computational and representational methodologies have not been available for emulating knowledge and expectation driven behavior so basic to human c...
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ISBN:
(纸本)0818607874
A problem in the development of intelligent robots is that efficient computational and representational methodologies have not been available for emulating knowledge and expectation driven behavior so basic to human cognition and problem solving. Even when techniques such as geometric modeling are used for representing objects in the robot world, methods for linking such representations with sensory feedback do not exist. The authors propose the use of intermediate representations called sensor-tuned representations for linking CSG-based solid modeling with sensory information. It is pointed out how object recognition can be done with sensor-tuned representations. Results of manipulation experiments produced by the current implementation of the system are reported.
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