In order to solve the problem of tire rescue in power tunnels, it is necessary to study the design method of obstacle avoidance control system for fire-fighting robots. Poor response and effectiveness is one of the ty...
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ISBN:
(纸本)9781728199481
In order to solve the problem of tire rescue in power tunnels, it is necessary to study the design method of obstacle avoidance control system for fire-fighting robots. Poor response and effectiveness is one of the typical problems when using the current design method in the obstacle avoidance control system of power tunnel fire-fighting robots. A real-time method of obstacle avoidance control system for power tunnel fire-fighting robot is proposed in this article. The design of fire-fighting robot is completed through coordination and cooperation among power modules, lidar ranging modules, servo control modules and motor drive circuits. On the principle of artificial potential field, the obstacle range in power tunnel is divided into multiple window cells by grid method, the attractive force and repulsive force generated by the target point and obstacle in cells is calculated. According to the calculation results, the resultant force is obtained, which makes the fire robot avoid the obstacles in the power tunnel. Therefore, obstacle avoidance control system of the fire robot in the power tunnel is completed. The experimental results show that the proposed method is highly responsive and effective.
Automatic picking and conveying line is used to automatically transport work bin in spacecraft assembly warehouse. The hardware composition andcontrol system design of automatic picking and conveying line is present ...
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ISBN:
(纸本)9781538613061
Automatic picking and conveying line is used to automatically transport work bin in spacecraft assembly warehouse. The hardware composition andcontrol system design of automatic picking and conveying line is present in this work. The system consists of robot, automated containers, and conveyor lines. The control system of automatic picking and conveying line has three level control structures: computers, PLC, and actuating mechanism. The SIEMENS S7-315 PN/DP PLC is used as the slave computer to control the conveying line, clamps, sensors and other actuators. The system can implement many batches of work bin delivered into and out of warehouse.
This Paper presents a chattering free non-singular fast terminal sliding mode controller for a robot manipulator in the presence of parameter uncertainties and external disturbances and comparison of its response with...
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Admittance control is one of the distinct implementations for compliance control in robotics. In this paper, the admittance control for a cable-driven rehabilitation robot for upper-limb with three degrees of freedom ...
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ISBN:
(纸本)9781538632604
Admittance control is one of the distinct implementations for compliance control in robotics. In this paper, the admittance control for a cable-driven rehabilitation robot for upper-limb with three degrees of freedom (3-DOF) in three dimensional workspace is investigated. Admittance control is realized based on the interactive force between human and the end-effector, and human can fulfill desired trajectory without any reference trajectory by his or her active force which applied to the end-effector. The interactive force between human and the rehabilitation robot of admittance control is studied without disturbance as well as with a step response force disturbance, and the results are also compared to that of the traditional PID control under the same tracking performance. Results show that the admittance control algorithm has similar trajectory performance with PID control, and has lower interactive force in both situations. With active participation and low interactive force, the admittance control has great potential in rehabilitation robots.
Since the inception of robots, they have gained immense popularity, covering almost all walks of life. The application of industrial robots has made great contributions to the improvement of enterprises' competiti...
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We present a new quadruped robot, "Cheetah", featuring three-segment pantographic legs with passive compliant knee joints. Each leg has two degrees of freedom - knee and hip joint can be actuated using proxi...
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ISBN:
(纸本)9781424428823
We present a new quadruped robot, "Cheetah", featuring three-segment pantographic legs with passive compliant knee joints. Each leg has two degrees of freedom - knee and hip joint can be actuated using proximal mounted RC servo motors, force transmission to the knee is achieved by means of a bowden cable mechanism. Simple electronics to command the actuators from a desktop computer have been designed in order to test the robot. A Central Pattern Generator (CPG) network has been implemented to generate different gaits. A parameter space search was performed and tested on the robot to optimize forward velocity.
In this paper, based on the computer artificial intelligence industry robot by establishing a mathematical model of the edge pressing Angle, TCP-RTP distance and the indent amount of the door edge, obtained the relati...
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This paper describes progress towards the development of a monopropellant-powered, pneumatically-actuated, hexapod robot. Design of the robot is presented, and an optimization based on the dynamic simulation of locomo...
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ISBN:
(纸本)9781424428823
This paper describes progress towards the development of a monopropellant-powered, pneumatically-actuated, hexapod robot. Design of the robot is presented, and an optimization based on the dynamic simulation of locomotion is described that selects the kinematic configuration to evenly distribute joint torques in the leg during locomotion. A finite state controller and leg impedance controller are described, and the controller is experimentally implemented on a pair of the hexapod legs to 1) validate the effectiveness of the control approach and 2) verify that the joint torques are indeed evenly distributed within the legs. Another optimization based on the dynamic simulation of locomotion is described that selects weights for a coordination-level controller that best tracks a desired body velocity.
In this paper, the robot is a maze robot. Dijkstra algorithm is used in the robot path planning. The shortest path is selected in the process of barrier. Simulation results prove the model valid;it can effectively sol...
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The robot is the typical machine, the material, the electron, the control, the information, the computer, the bionics and so on multi-disciplinary cross frontier technology, which is the modern engineering science syn...
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