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Innovation practice education organization case and analysis on the platform of robot competition 2

Innovation practice education organization case and analysis...

引用

2nd international conference on Education, Knowledge and Information Management, ICEKIM 2021

作者： Huang, Fangsheng Zhang, Yu Dong, Erbao Zhang, Shiwu Ni, Xianggui Engineering Science Experiment Teaching Center University of Science and Technology of China Hefei China

ISBN: (纸本)9781728168340

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 synthesizes and the modern engineering innovation entrepreneurship practice education the perfect carrier. In order to cultivate college students' innovative and practical ability, theoretical knowledge application ability, practical ability and cooperative spirit, University of Science and technology of China (USTC) actively organizes students to participate in robot competitions. Reference USTC history and status of RoboGame contest robot, and carries on the case analysis of the tournament in 2020 about the background, theme rules, game to review and summarize the characteristics, for other college student robot competitions offer reference for the organization and development, and cultivate more excellent innovative entrepreneurial talent. © 2021 IEEE.

关键词： robots

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Neuroadaptive impedance robot controller for obstacle avoidance

Neuroadaptive impedance robot controller for obstacle avoida...

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2011 IEEE 2nd international conference on Software Engineering and Service Science, ICSESS 2011

作者： Khemaissia, Seddik Riyadh College of Technology College of Applied Medical Sciences King Saud University Saudi Arabia

ISBN: (纸本)9781424496969

This paper proposes a model of a cerebellum motor learning based on a neuroadaptive robot manipulator controller. Impedance control is chosen as the basis of the model in preference to alternative robot control strategies because muscles do not act like pure force generators such as torque motors nor as pure displacement devices such as stepper motors but instead act more like tunable springs or compliance devices. Compliance control has the further advantage that it is applicable for a variety of motor tasks, and is both more robust and simple than alternative control strategies. Simulation results are presented to verify the performance of the proposed model. Specific results are presented for the applications of impedance control to the case where the end-effector is interacting with surfaces to avoid obstacles. © 2011 IEEE.

关键词： Compliance control

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PID controller optimization of mobile robot servo system

PID controller optimization of mobile robot servo system

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international conference on Computing control and Industrial Engineering (CCIE)

作者： Du, Yan-Hong Wei, Yong Shan, Hui-Yong Liu, Hua Department of Electromechanical Engineering Tianjin Agricultural University Tianjin China

ISBN: (纸本)9781424495979

The device driver control of wheeled mobile robot is based on the PID control of kinetic model. In this paper, to improve the system's overall robustness and the accuracy of control, the wheeled mobile robot's servo drive system is identified by the BP neural network of series-parallel identification structure, and the PID controller parameter is optimized by the genetic algorithm based on the afore identification result. Thereby the global parameter optimization is achieved. Finally, the algorithm is applied in device driver control of the actual robot to prove that the method can effectively improve stableness and accuracy of the speed control, and the optimization problem of the drive servo PID controller of wheeled mobile is solved. And it will provide technical support of the future research of accurate motion in the industrial and agricultural field. © 2011 IEEE.

关键词： Genetic algorithms

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Optimal Trajectory Planning for Delta robot Based on Three-parameter Lame Curve 2

Optimal Trajectory Planning for Delta Robot Based on Three-p...

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2nd international conference on Cybernetics, robotics and control (CRC)

作者： Chen, Weidi Fang, Honggen Yang, Yang He, Wensong Shanghai Acad Spaceflight Technol Shanghai Aerosp Equipments Manufacturer Shanghai Peoples R China

ISBN: (纸本)9781538606773

This paper presents a method of optimal trajectory planning for Delta robot based on three-parameter Lame curve. Using the curve to smoothen the corners of adept motion in Cartesian space. A 6th order polynomial with asymmetrical acceleration and deceleration is adopted to generate the motion profile. The general formulations of displacement, velocity and acceleration are derived at discrete time. To make the overall trajectory as smooth as possible under the constraints of joint velocity, acceleration and torque, a genetic algorithm with elitist strategy is applied to optimize the three parameters under a cost function which is defined by the mean value of joint torque time-derivative. Simulation results show that this optimal trajectory planning method can gain smooth trajectory in Cartesian space and allows highspeed pick-and-place operation for Delta robot with small tracking errors.

关键词： delta robot lame curve trajectory planning genetic algorithm parameter optimization

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Bio-mimetic Machine Learning based on Compound control

Bio-mimetic Machine Learning based on Compound Control

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Shimoda, Shingo Kimura, Hidenori RIKEN BSI Toyota Collaborat Cebter Wako Saitama Japan

ISBN: (纸本)9781424428823

Tacit learning is a new machine learning paradigm that attempts to implement the superb adaptation capability of living organisms to unexpected environmental changes. It emphasizes body/environment interactions and is equipped with some elementary sets of action rules and appropriate initial conditions of the neural states that correspond to elementary survival reflexes. Along this line, we propose a new scheme of neural computation based on compound control which represents a typical feature of biological controls. This scheme is based on a classical neuron model where macroscopic purposeful behavior emerges as the result of the interaction of local rules. This scheme is applied to a bipedal robot and generates the rhythm of walking without any model of robot dynamics and environments.

关键词： Learning systems

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Intelligent path following method for nonholonomic robot using fuzzy control

Intelligent path following method for nonholonomic robot usi...

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2nd international conference on Intelligent Networks and Intelligent Systems, ICINIS 2009

作者： Liu, Ning PLA 92941 Command Huludao Liaoning Province China

ISBN: (纸本)9780769538525

The path following control problem for mobile robots with nonholonomic constraints is discussed. According to the description of robot oriented positioning control, a novel path following fuzzy controller which based on human driving behavior has been designed. As the robot's direction error and orientation error relative to oriented goal are hardly coupled, so a position- orientation alternate control method is presented. When position error is bigger, a position controller is used to achieve the fast track, or an orientation controller is used. But during the orientation control, if orientation error is smaller, it turns back to position control. These two kinds of controllers take in turns, by which the mobile robot can be controlled to achieve path following mission fleetly and effectively. Then the validity and feasibility of this method has been approved by simulation results. © 2009 IEEE.

关键词： Fuzzy control

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Study on Sensors Using in Wall Climbing robot for Motion controller

Study on Sensors Using in Wall Climbing Robot for Motion Con...

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2nd international conference on Measurement, Information and control (ICMIC)

作者： Zhai Ying Liang Hongwei Gao Bingkun Fan Sanxin Northeast Petr Inst Fac Elect & Informat Engn Daqing City Heilongjiang Pr Peoples R China Daqing Oilfield Engn Co Ltd Tianyu Design Inst Daqing City Heilongjiang Pr Peoples R China

ISBN: (纸本)9781479913909

The storage tank anticorrosion quality seeming to be particularly important with the rapid development of the domestic oil. This design is used to detect the coating's thickness of storage tanks, PC and the console computer control the wallclimbing robot's motion. The goal of this paper is to work on study of sensors using in wall climbing robot for motion controller, which include IR detector sensor and Ultrasonic PING Sensor. The system design includes hardware and software systems: the hardware control panel using STC12C5A60S2 master chip, receive the host computer's instructions, drive wallclimbing robot to walk;the host computer's software system is developed by Visual C# and the consol computer's software is developed by Keil C. Ultimately it achieves coating thickness of the oil storage tank.

关键词： Wall Climbing robot Ultrasonic PING Sensor IR Detector Motion control

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A principled approach to biological motor control for generating humanoid robot reaching movements

A principled approach to biological motor control for genera...

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Tuan, Tran Minh Soueres, Philippe Taix, Michel Guigon, Emmanuel Univ Toulouse LAAS CNRS 7 Ave Colonel Roche F-31077 Toulouse France Univ Toulouse F-31077 Toulouse France Univ Toulouse 3 F-31062 Toulouse France Univ Paris 06 ANIM UPMC NSERM U742 F-75252 Paris 05 France

ISBN: (纸本)9781424428823

This paper presents an application of neurobiological motor principles to the control of humanoid robot reaching movements. The model is mainly based on the hypotheses that the energy of motoneurons;signals is continuously minimized along the motion and that dynamic and static efforts are processed separately. This paradigm is used to control the robot HRP2 by considering a dynamic model of the arm including, for each degree of freedom, two second order low-pass filters modeling the neuromuscular system defined by a pair of antagonist muscles. The optimal control problem is solved as a nonlinear programming problem by using a direct transcription method coupled with the optimization software Ipopt. This approach allows to generate realistic movements with anthropomorphic features such as quasi-rectilinear trajectories and bell-shaped velocity.

关键词： human motor control neurobiological principles reaching control humanoid robot direct transcription nonlinear programming

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The nonlinearity simulation study on electrical hydrostatic actuator

The nonlinearity simulation study on electrical hydrostatic ...

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2012 2nd international conference on Consumer Electronics, Communications and Networks, CECNet 2012

作者： Gao, Bo Shi, Lian Key Laboratory for Robot and Intelligent Technology of Shandong Province Shandong University of Science and Technology Qingdao China

ISBN: (纸本)9781457714153

This paper introduces a new type of actuator, namely Electro-Hydrostatic Actuator (EHA)[1]. According to the engineering, we choose the asymmetric hydraulic cylinder, establish the mathematical model of permanent magnet synchronous motor and EHA, and adopt the MATLAB proceeds to imitate the true research. To solve the problem of nonlinear system, we adopt PID control method. © 2012 IEEE.

关键词： Three term control systems

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Computer Vision Based Chess Playing Capabilities for the Baxter Humanoid robot 2

Computer Vision Based Chess Playing Capabilities for the Bax...

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2nd international conference on control, Automation and robotics (ICCAR)

作者： Chen, Andrew Tzer-Yeu Wang, Kevin I-Kai Univ Auckland Dept Elect & Comp Engn Embedded Syst Res Grp Auckland New Zealand

ISBN: (纸本)9781467398596

This paper presents a project that allows the Baxter humanoid robot to play chess against human players autonomously. The complete solution uses three main subsystems: computer vision based on a single camera embedded in Baxter's arm to perceive the game state, an open-source chess engine to compute the next move, and a mechatronics subsystem with a 7-DOF arm to manipulate the pieces. Baxter can play chess successfully in unconstrained environments by dynamically responding to changes in the environment. This implementation demonstrates Baxter's capabilities of vision-based adaptive control and small-scale manipulation, which can be applicable to numerous applications, while also contributing to the computer vision chess analysis literature.

关键词： computer vision uncontrolled environments mechatronics human-robot interaction chess robot

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