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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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 robotcontrol strate...
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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...
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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 ...
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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.
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...
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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 compoundcontrol 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.
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 ...
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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 consol...
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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.
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 continu...
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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.
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 magn...
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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...
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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.
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