This paper presents the workspace analysis of a redundant serial-parallel robot. Due to the complexity of the robot, the complex constraints (joint limits and no-interference between the legs of the robot), and the gl...
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ISBN:
(纸本)9789897581984
This paper presents the workspace analysis of a redundant serial-parallel robot. Due to the complexity of the robot, the complex constraints (joint limits and no-interference between the legs of the robot), and the globally serial structure of the robot, a discretization method based on the forward kinematics would be most appropriate to compute the workspace. However, this widely used method can only obtain the external boundaries of the workspace, missing the internal barriers that hinder the motion of the robot, which may exist inside the boundaries. To avoid missing these barriers, we use a discretization method that uses the solution of the inverse kinematic problem of the robot. By studying the feasibility of attaining a desired position and orientation by the different branches of the solution to the inverse kinematics, the proposed discretization method is able to obtain both the external boundaries and the internal barriers of the workspace. Some examples are presented to show the importance of these internal barriers in the motions of the robot inside the workspace.
The paper presents a combined prior knowledge - black-box approach to modeling of the dynamic systems. Proposed methodology assumes two basic steps: first an optimization of a physical model, using Particle Swarm Opti...
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The paper presents a combined prior knowledge - black-box approach to modeling of the dynamic systems. Proposed methodology assumes two basic steps: first an optimization of a physical model, using Particle Swarm Optimization algorithm is performed. Next, a black-box model is estimated so as to reduce the remaining error of the physical model. Proposed methodology was presented on the example of improving the accuracy of a pneumatic actuator physical model.
The article presents simulation research over the position control of two-mass system with backlash. Author implemented Active Disturbance Rejection Control method for this type of object. The simulation research are ...
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The article presents simulation research over the position control of two-mass system with backlash. Author implemented Active Disturbance Rejection Control method for this type of object. The simulation research are preliminary tests before implementation the algorithm on laboratory bench. Detailed description of each block of the control system is presented, then simulation research are conducted, next - proposed performance indexes are calculated, finally conclusions and future works are discussed.
A physically based, nonlinear model of the masses of air and burned gas inside the cylinders of a spark ignition (SI) engine is presented. Goal of this work is to develop a feed forward control law, which perfectly tr...
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A physically based, nonlinear model of the masses of air and burned gas inside the cylinders of a spark ignition (SI) engine is presented. Goal of this work is to develop a feed forward control law, which perfectly tracks given reference values of these masses. This is done by utilizing the exact linearization approach [1]. The final feed forward control law is verified in combination with a slightly modified design model as well as the original model.
Kinematically redundant robotic manipulators are capable of achieving multiple secondary manipulation goals, including collision avoidance and improved motion economy, by resolving kinematic null spaces. Given specifi...
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The aim of signal decomposition in wavelet bases is to represent a signal as a sequence of wavelet coefficients sets. There is proposed a multistage classification rule using on every stage only one set of the signal ...
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The aim of signal decomposition in wavelet bases is to represent a signal as a sequence of wavelet coefficients sets. There is proposed a multistage classification rule using on every stage only one set of the signal coefficients. The hierarchical construction of wavelet multiresolution analysis was an inspiration for the multistage classification rule. The algorithm makes an optimal decision for every set of coefficients and its main advantage is a smaller dimension of classification problem on every stage.
Ground-based cloud observation is essential for meteorological research and climate monitoring. Existing methods for cloud detection and classification in whole-sky images (WSIs) often focus solely on binary segmentat...
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Existing state-of-the-art object tracking can run into challenges when objects collide, occlude, or come close to one another. These visually based trackers may also fail to differentiate between objects with the same...
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In this paper the lossless block encoder application using the adaptive Golomb code and asymmetric inter-channel dependencies are presented. Using the sets of settings obtained from the study of inter-channel dependen...
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In this paper the lossless block encoder application using the adaptive Golomb code and asymmetric inter-channel dependencies are presented. Using the sets of settings obtained from the study of inter-channel dependencies, the lowest bit averages were found within the channels. In the next step the algorithm was improved by adaptation within the blocks, what allowed to improving the degree of compression.
This paper presents a generic hybrid online monitoring approach allowing the detection of inconsistencies in the navigation of autonomous mobile robots. The originalities of this work are (i) the association of classi...
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