This paper describes the reactive controlling of a mobile robotic system using a hybrid approach by adopting both neural network and fuzzy logic, so that, an autonomous robot should move in a crowded unknown environme...
详细信息
In this paper, to solve the problems of hexapod robot's foot frequent collisions with hard ground impact and other issues, we establish the foot-modeled and its parameters identification in the geological environm...
详细信息
This paper considers a written communication system based on a multilateral teleoperation by using time-domain passivity control. The main contribution of this paper is to apply the time-domain passivity control to ou...
详细信息
ISBN:
(纸本)9781728114392
This paper considers a written communication system based on a multilateral teleoperation by using time-domain passivity control. The main contribution of this paper is to apply the time-domain passivity control to our written communication system. In our written communication system, the stability is guaranteed by using the scattering matrix method. However, when the disturbances exist in the practical multilateral teleoperation, the operation error may be occurred. This paper resolves the disturbance attenuation for the multilateral teleoperation by using the time-domain passivity control. First, the written communication system with the multilateral teleoperation is indicated. Two operators and one teleoperator which are called as the clients and the server, respectively. Next, the time-domain passivity control is applied to the server side. The time-domain passivity control is composed of the passivity observer and passivity controller. In the simulation, while one client provides the force to the pen equipment, the stability and the control performance are verified. The disturbance attenuation is confirmed by using the time-domain passivity control. Therefore, two clients can recognize the character by using the written communication system.
This paper deals with the position control of robot manipulators with uncertain and varying-time payload. Proposed is a simple class of robot regulators consisting of a linear PD feedback plus a bounded nonlinear term...
详细信息
ISBN:
(纸本)9781424445189
This paper deals with the position control of robot manipulators with uncertain and varying-time payload. Proposed is a simple class of robot regulators consisting of a linear PD feedback plus a bounded nonlinear term of position errors plus an integral action driven by an NP-D controller, where the nonlinear terms are shaped by a continuous bounded nonlinear function of position errors. By using Lyapunov's direct method and LaSalle's invariance principle, the simple explicit conditions on the regulator gains to ensure global asymptotic stability are provided. The theoretical analysis and simulation results show that: an attractive feature of our scheme is that PD-NP-INP-D controller has the faster convergence, better flexibility and stronger robustness with respect to uncertain and varying-time payload, and then the optimum response can be achieved by a set of control parameters in the whole control domain, even under the case that the payload is changed abruptly.
The proceedings contain 14 papers. The topics discussed include: comparison study on flapping mechanisms of flapping wing micro air vehicle characterized on hovering flight;design and development of smart robot for bu...
ISBN:
(纸本)9781450362467
The proceedings contain 14 papers. The topics discussed include: comparison study on flapping mechanisms of flapping wing micro air vehicle characterized on hovering flight;design and development of smart robot for butler services;a cost-efficient multipurpose service robot using raspberry Pi and 6 DOF robotic arm;a new design of active lower limb orthosis with one degree of freedom for paraplegia;fuzzy and PD control for satisfied motion of a mobile inverted pendulum robot;an inertial navigation pre-integration algorithm based on multi-sensor fusion for indoor mobile robot positioning;planar homography based monocular SLAM initialization method;and numerical simulation of flow field in cut-off valve with throttle orifice based on CFD.
The GRUMMAN international NANYANG TECHNOLOGICAL INSTITUTE CAD/CAM CENTRE is currently developing an Intelligent Flexible Manufacturing System for the machining of complexed shaped components. The equipment which has b...
详细信息
The GRUMMAN international NANYANG TECHNOLOGICAL INSTITUTE CAD/CAM CENTRE is currently developing an Intelligent Flexible Manufacturing System for the machining of complexed shaped components. The equipment which has been installed includes an automated storage and retrieval system with a vertical transfer system; a Scara robot with an assembly table for fixturing; a 3 axis vertical machining centre with a gantry robot for the loading and unloading of modular fixtures; an automatic probe changing co-ordinate measuring machine for inspection; and an automated guided vehicle system for material transportation. The Intelligent Flexible Manufacturing System, IFMS employs a distributed control strategy with four distinct subsets; namely, Facility Level for plans development; Shopfloor Level for inventory control and production scheduling; Workstation Level for local planning, scheduling and data transmission; Equipment Level for the control of programmable logic and computer numerical control, CNC controllers. The software which has been developed locally for this IFMS includes post-processors for the assembly robot, vertical machining centre and co-ordinate measuring machine, CMM. Communication software between different workstations and the CAD facilities together with the equipment controllers and machine tools has also been successfully developed. This paper describes the design philosophy and development work associated with an IFMS within GINTIC from the facility planning level to the equipment control level.
The purpose of this paper is to represent that the techniques of Computer Aided Geometric Design such as spatial rational frames could be applied to robot kinematics for arm motion design and to computer graphics for ...
详细信息
ISBN:
(纸本)9781424445189
The purpose of this paper is to represent that the techniques of Computer Aided Geometric Design such as spatial rational frames could be applied to robot kinematics for arm motion design and to computer graphics for generating smooth animation of a rigid body specially in complicated sets of control points and orientations. In application requiring control of the orientation of a rigid body, as its center of mass executes a given path, alignment of body's principal axes with the Frenet-Serret Frame at each point appears to be the solution. However, the other useful orthonormal frames can be defined along a space curve. An important example is Rotation Minimizing Frame. Rotation Minimizing Frames are employed in robotics application where the axis of a tool or probe should remain tangential to a given spatial path while minimizing changes of orientation about this axis.
It is well known that the massage therapy is useful for the rehabilitation of various diseases;i.e. oral health problems, etc. Authors have proposed the development of a novel rehabilitation robot designed to provide ...
详细信息
ISBN:
(纸本)9781424428823
It is well known that the massage therapy is useful for the rehabilitation of various diseases;i.e. oral health problems, etc. Authors have proposed the development of a novel rehabilitation robot designed to provide massage to maxillofacial region (as a therapy to patients with dry mouth, etc.). In this year, we have succeeded in developing the Waseda-Asahi Oral-Rehabilitation robot No.1 (WAO-1). WAO-1 is composed by two 6-DOF arms with plungers attached at their end-effector. A virtual compliance control has been implemented to control the positioning and the applied force by the plunger during the massage. Preliminary experiments were carried out to confirm the effectiveness of the proposed system. From the experimental results, we could detect the effectiveness of stimulating the production of saliva, and increasing the skin temperature as well as the size of masseter muscle on volunteers after providing the massage with WAO-1.
Aiming at the problems of low efficiency, high risk and high cost of manual ship rust removal, a wall climbing robot is developed for ship rust removal. The distributed control scheme of upper and lower computers is a...
详细信息
暂无评论