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38 篇 会议

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检索条件"任意字段=International Conference on Optimization of the Robots and Manipulators（OPTIROB 2011）"

共 38 条记录，以下是1-10 订阅

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Using hand synergies as an optimality criterion for planning human-like motions for mechanical hands 14

Using hand synergies as an optimality criterion for planning...

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14th IEEE-RAS international conference on Humanoid robots (Humanoids)

作者： Rosell, Jan Suarez, Raul Univ Politecn Cataluna Barcelona Tech Inst Ind & Control Engn IOC Barcelona Spain

ISBN: (纸本)9781479971749

The use of anthropomorphic mechanical hands allows the execution of complex manipulation tasks and, therefore, its use is increasing, both in humanoid robots and mobile manipulators. The planning of the motions of these hands is not easy due to the high number of degrees of freedom (DOF) involved. Even when they may be mechanically independent, these degrees of freedom can be artificially coupled in order to mimic the human hand motions by using synergies, which in its turn results in a lower subspace where to perform the motion planning, as previously done by the authors using a PRM. This paper extends this idea by using an RRT*, that differently from other sampling-based planners, is an asymptotically optimal method. The optimization function selected evaluates the alignment of the path to the directions defined by the synergies, thus favoring human-like motions. The proposal is conceptually illustrated with a simple 2 DOF planar robot and applied to a 13 DOF mechanical hand.

关键词： dexterous manipulators humanoid robots mobile robots optimal control optimisation path planning 13 DOF anthropomorphic mechanical hands 2 DOF planar robot complex manipulation tasks hand synergies human-like motion planning mobile manipulators optimality criterion optimization function path alignment evaluation sampling-based planners Cost function Couplings Joints Planning Proposals robots Humanoid robots Mobile manipulator Robot Cost functions Path planning Couplings Mobile robots Optimal control Joints Joints Hand DEPTH OF FIELD

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Some characteristics of the 3($P$) parallel manipulator inverse model

Some characteristics of the 3($P$) parallel manipulator inve...

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9th international conference on Modeling and optimization of the Aerospace, Robotics, Mechatronics, Machines-Tools, Mechanical Engineering and Human Motricity Fields, optirob 2014

作者： Ungureanu, Liviu Marian Comanescu, Adriana Comanescu, Dinu Dept. Theory of Mechanisms and Robots University POLITEHNICA of Bucharest Splaiul Independentei no. 313 Bucharest Romania Dept. of Mechatronics and Precision Mechanics University POLITEHNICA of Bucharest Splaiul Independentei no. 313 Bucharest Romania

ISBN: (纸本)9783038351115

A 3($P$) parallel manipulator with three degrees of mobility may be used in different purposes, such as a spatial flight simulator. The same equations but with different unknowns characterize its direct and inverse positional model. By adopting the Euler angles for the mobile platform the inverse positional model is simplified. There are determined the parameters of the linear actuators, which are verified for different situations by graphical simulation in a suitable environment. © (2014) Trans Tech Publications, Switzerland.

关键词： manipulators

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A Constrained optimization Approach to Virtual Fixtures for Multi-Robot Collaborative Teleoperation

A Constrained Optimization Approach to Virtual Fixtures for ...

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IEEE/RSJ international conference on Intelligent robots and Systems

作者： Xia, Tian Kapoor, Ankur Kazanzides, Peter Taylor, Russell Johns Hopkins Univ Dept Comp Sci Lab Computat Sensing & Robot Baltimore MD 21218 USA Natl Inst Hlth Bethesda MD USA

ISBN: (纸本)9781612844558

This paper presents a constrained optimization framework that enables the implementation of multi-robot constraints, as virtual fixtures, to assist human operators, in a teleoperated scenario. The collaborative constraints guide the motion of multiple robots such that the spatial and temporal relationships are maintained between them, while following human input motion objectives. We demonstrate this control architecture for the task of manipulating a surgical knot to a target point. The teleoperation system uses four arms from a da Vinci Surgical System (R) (two master manipulators and two slave manipulators), with custom electronics and software. It extends previous work, which focused on a cooperatively controlled system where the motions of two robots were directly controlled by user-applied forces. Our current system enables us to effectively evaluate the accuracy of the knot positioning task and completion time in a clinically realistic setup for Minimally Invasive Surgery.

关键词： Endoscopes Frequency modulation Image segmentation Surgery Tracking

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Simulation of dynamics and realistic contact forces for manipulators and legged robots with high joint elasticity

Simulation of dynamics and realistic contact forces for mani...

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IEEE 15th international conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011

作者： Lens, Thomas Radkhah, Katayon Von Stryk, Oskar Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Germany

ISBN: (纸本)9781457711589

In this paper, multibody system dynamics simulation for manipulators and legged robots with high joint elasticities, particularly with focus on collision modeling, is addressed. We present the architecture of a newly developed toolbox in conjunction with a detailed discussion of a realistic contact, friction and stiction model, which is validated with real measurement data of a bouncing ball. The work presented is driven and inspired by two concrete robot developments in the authors' group: the manipulator BioRob and the biped BioBiped. The libraries are used to develop kinematic and kinetic models of these bio-inspired and highly elastic robots. Models and simulation of both robots are discussed, as well as occurring forces during collisions of the BioRob-X4 arm with the ground. We are also able to demonstrate good agreement of ground contact forces measured during slow jogging motion of a human subject with simulation results obtained with BioBiped1. © 2011 IEEE.

关键词： manipulators

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Manipulator System Selection Based on Evaluation of Task Completion Time and Cost

Manipulator System Selection Based on Evaluation of Task Com...

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IEEE/RSJ international conference on Intelligent robots and Systems

作者： Huang, Yanjiang Gueta, Lounell B. Chiba, Ryosuke Arai, Tamio Ueyama, Tsuyoshi Sugi, Masao Ota, Jun Univ Tokyo Ctr Engn 5-1-5 Kashiwanoha Kashiwa Chiba 2778568 Japan Tokyo Metropolitan Univ Fac Sys Design Hino Tokyo 1910065 Japan Univ Tokyo Dept Precis Engn Grad Sch Engn Tokyo 1138656 Japan DENSO WAVE INCORPORATED Aichi 4702297 Japan Univ Electrocommun Dept Mech Engn & Intelligent Sys Tokyo Japan

ISBN: (纸本)9781612844558

Task completion time and cost are two significant criteria for the selection of manipulator system. For a given task, several Pareto solutions of manipulator systems should be derived based on the evaluation of these two criteria. However, this process requires a large calculation time. In this paper, we propose a method that can select appropriate systems by evaluating task completion time and cost within the desired calculation time. In the proposed method, multiple objective particle swarm optimization (MOPSO) is employed to search for appropriate manipulator systems from a set of candidate systems. Location optimization and motion coordination are integrated to derive the task completion time and the relative cost is used to evaluate the cost of a manipulator system. We employ particle swarm optimization (PSO) for location optimization and use nearest-neighborhood algorithm (NNA) for motion coordination, since PSO and NNA have a high speed of convergence to a good solution. The proposed method is applied to a set of tasks and is proved to be effective and practical.

关键词： Educational institutions Equations manipulators optimization Robot kinematics Search problems

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Kinematic optimization for Isotropic Stiffness of Redundantly Actuated Parallel manipulators

Kinematic Optimization for Isotropic Stiffness of Redundantl...

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IEEE international conference on Robotics and Automation (ICRA)

作者： Shin, Hyunpyo Lee, SungCheul Jeong, Jay. I. Kim, Jongwon Kookmin Univ Sch Mech & Automot Engn 861-1 Jeongneung Dong Seoul 136702 South Korea Seoul Natl Univ Sch Mech & Aerosp Engn Seoul 151744 South Korea Korea Inst Machinery & Mat Daejeon South Korea

ISBN: (纸本)9781612843858

A kinematic optimization procedure for redundantly actuated parallel manipulator is developed to ensure the isotropic antagonistic stiffness in a workspace. The kinematic parameters of the mechanism are optimized to maximize and equal out antagonistic stiffness of the redundantly actuated manipulator when size and shape of the usable workspace are given but position in the entire workspace is not. The proposed procedure is verified with a 2-DOF planar manipulator by experiments. The experimental results show that the proposed procedure is useful for designing the redundantly actuated parallel manipulator with isotropic antagonistic stiffness in a predefined usable workspace as a design constraint.

关键词： Mechanism Design of manipulators Parallel robots Redundant robots

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A Geometrical Index to Evaluate the Kinematical Properties of a 2 Dof Parallel Kinematic Manipulator

A Geometrical Index to Evaluate the Kinematical Properties o...

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4th international Multi-conference on Engineering and Technological Innovation

作者： Giberti, Hermes Cinquemani, Simone Ambrosetti, Stefano Politecn Milan Dept Mech Engn Campus Bovisa SudVia La Masa 1 I-20156 Milan Italy

ISBN: (纸本)9781936338368

High dynamic performances, stiffness, accuracy and precision are just some main features that make the Parallel Kinematic Machines (PKM) more suitable and desiderable than serial robots for some typicall industrial applications such as laser cutting, pick & place operations and machining. The development of PKM brings to a process of optimization meant to improve the kinematic behaviour of the machine. This paper presents a new practical index, based on isotropy condition, easy to use for the design and project of 2-dofs parallel manipulators.

关键词： parallel manipulator kinematic optimization isotropy performance index optimum design

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Minimum-effort redundancy resolution of robot manipulators unified by quadratic programming

Minimum-effort redundancy resolution of robot manipulators u...

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2011 IEEE international conference on Automation and Logistics, ICAL 2011

作者： Li, Kene Zhang, Yunong Guangzhou 510006 China

ISBN: (纸本)9781457703010

This paper presents the latest result that the minimum-effort redundancy resolution of robot manipulators with joint physical limits is unified into a quadratic-programming (QP) problem formulation with different coefficient matrices and vectors defined for different schemes. Such a general QP formulation is subject to equality, inequality and bound constraints, simultaneously. Motivated by the realtime solution to such robotic inverse-kinematics problems, the standard QP optimization routines and primal-dual neural network based on linear variational inequalities (due to its simple piecewise-linear dynamics and higher computational efficiency) are investigated in this paper. The QP-based unification of robots' redundancy resolution is substantiated by a number of computer-simulations of PUMA560, PA10, and planar arms. © 2011 IEEE.

关键词： Quadratic programming

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Military R&D Involvement in Developing Unmanned Systems for Defense and Security

Military R&D Involvement in Developing Unmanned Systems for ...

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international conference on optimization of the robots and manipulators（optirob 2011）

作者： Eng.Liviu Cosereanu Eng.Tiberius Tomoiaga Military Equipments and Technologies Research Agency (METRA) Ph.D.

The paper aims to present the actual status of military robots development by Romanian military Research and Development in the context of today's warfare and military operations.

关键词： battlefield, robots, human live saving, risk, R&D.

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Study upon the Dynamic Answer of Plane manipulators

Study upon the Dynamic Answer of Plane Manipulators

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international conference on optimization of the robots and manipulators（optirob 2011）

作者： Ionut Geonea Alexandru Margine Alin Ungureanu IEEE

The paper illustrates the structure of plane mechanical systems used to manipulators. In the first part are presented some kinematics schemes used to plane manipulators. These mechanisms are used to manipulators, positioning and control systems. In generally these mechanisms have two or three degree of mobility. The purpose of the paper is to study the dynamics of a plane manipulator mechanical system used to manipulate garbage containers. It is presented the kinematics scheme of a plane manipulator, used to this purpose and is presented the mechanism functional description. In the second part is presented the kinematical and dynamical analysis for the plane manipulator mechanism. In the last part of the paper are presented graphical results for the dynamics parameters.

关键词： manipulator, dynamics, optimization.

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