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检索条件"任意字段=Proceedings of the 2019 2nd International Conference on Control and Robot Technology"

共 3954 条记录，以下是161-170 订阅

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Design and Verification of an Installation robot for the Variable Stiffness Fixture 2

Design and Verification of an Installation Robot for the Var...

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2nd international conference on Mechanical, Electronics, and Electrical and Automation control, METMS 2022

作者： Yin, Haibin Zhou, Zepeng School of Mechanical and Electronic Engineering Wuhan University of Technology Wuhan China

ISBN: (数字)9781510654785

ISBN: (纸本)9781510654778

In the article, a robot for installing variable stiffness fixtures, which can be used to solve the low-efficiency and laborious problem of the large-scale computer embroidery machine, has been designed and verified. The works of design started from the demand for the load, function, and dynamic characteristics of the robot, and used 3D printing to produce a robot prototype for the variable stiffness fixture to test the installing effects. The effects show that the averagely installing time of each variable stiffness fixture is about 3 seconds, and the installed fixtures can meet the requirements of mechanics in the use of embroidery machines. © 2022 SPIE

关键词： robots

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Motion control Design of Small-Scale Lunar Jumping robot 2

Motion Control Design of Small-Scale Lunar Jumping Robot

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2nd international conference on Mechanics, Electronics, Automation and Automatic control, MEAAC 2024

作者： Xu, Yicheng Hou, Zhangli Wang, Weijun Zhang, Zhinan School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Shanghai Institute of Aerospace System Engineering Shanghai201109 China

ISBN: (纸本)9781643685403

Exploring the moon has always been a dream of humanity. For lunar exploration, there is an urgent need for legged jumping robots that are suited to the lunar environment. These robots are currently at the cutting edge of academic research. However, the moon's low gravity and uneven terrain impose high technical demands on these robots' jumping capabilities. As of now, there are no known robots capable of executing such jumps on the moon. This paper presents a motion control algorithm specifically designed for a small-scale lunar jumping robot. The algorithm's feasibility is verified through Adams-Simulink coupled simulation. Based on these simulation results, the control algorithm is implemented in a physical robot, and subsequent jumping experiments demonstrate that the robot can achieve stable and slope-adapted jumping motions in a low-gravity environment. Â© 2024 The Authors.

关键词： Lunar missions

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Event-Triggered Output Feedback Prescribed Performance Consensus control for High-Order Nonlinear Multiagent Systems 24

Event-Triggered Output Feedback Prescribed Performance Conse...

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2nd international conference on Frontiers of Intelligent Manufacturing and Automation, CFIMA 2024

作者： Li, Zhijie Liu, Haodong Chen, Zeyuan Wang, Xiaofei Li, Ding Zhao, Chong School of Electrical Engineering Hebei University of Science and Technology Hebei Shijiazhuang China Hebei University of Science and Technology Hebei Shijiazhuang China

ISBN: (纸本)9798400710681

This article studies the event-triggered output feedback prescribed performance consistency control problem for a class of uncertain multi-agent systems under directed topology. Unlike existing works forced on predetermined performance control for multi-agent systems, this paper presents an novel relaxed method which does not require the initial state of system to be within a specific range. Based on the backstepping method, a novel prescribed performance event-based controller is designed to guarantee the transient-steady performance constraints of the systems. The dynamic surface control technique is used to deal with the calculating explosion problem. Finally, we provide a simulation to verify the effectiveness of the proposed method. © 2024 Copyright held by the owner/author(s).

关键词： Backstepping

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Implementation of motion-mapping algorithms on a teleoperation humanoid mechanical arm system during the COVID-19 2

Implementation of motion-mapping algorithms on a teleoperati...

引用

2nd international conference on Artificial Intelligence, Automation, and High-Performance Computing, AIAHPC 2022

作者： Li, Siyao Faculty of Natural Mathematical & Engineering Sciences King's College of London London United Kingdom

ISBN: (纸本)9781510657717

robot teleoperation is defined as using a remote control to perform tasks requiring on-site operation while the operator is located far from the robot's on-site operable environment. COVID-19, an acute respiratory syndrome, has led to a rapid increase in people's demand for robot teleoperation technology. By applying motion information from the human motion to a slave robot, the current study developed a teleoperation system to realize some medical processes remotely during COVID-19. This system has great potential to advance teleoperation technology during and after the pandemic. Our results show that the motion mapping algorithm possesses more accuracy and stability compared to the traditional kinematic method. © 2022 SPIE. All rights reserved.

关键词： Remote control

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S-RRT*: An improved real-time robot path planning algorithm using sector offset sampling 24

S-RRT*: An improved real-time robot path planning algorithm ...

引用

2nd international conference on Frontiers of Intelligent Manufacturing and Automation, CFIMA 2024

作者： Leng, Hongkang Chen, Yaoyao Xu, Pengyao Chen, Chao Song, Rui Li, Weihua Di, Chong Shandong China Shandong China Shandong Cancer Hospital Institute Shandong First Medical University Shandong Academy of Medical Sciences Shandong China School of Control Science and Engineering Shandong University Shandong China Shandong China

ISBN: (纸本)9798400710681

In order to solve the problem of real-time path planning, the algorithm based on sampling is widely used in this field. The RRT* algorithm, as a variant of the RRT algorithm, provides asymptotic optimality. In view of the real-time path planning problem, most of the previous researches directly start from the perspective of compression environment and changing RRT* rewire strategy, but ignore the influence of RRT* sampling blindness on path planning, resulting in slow algorithm convergence speed and high path redundancy. In order to overcome these problems, S-RRT* is proposed in this paper. S-RRT* is an improvement of RT-RRT*. In order to reduce the inefficiency of tree expansion, S-RRT* adopts the sector space probability weight sampling strategy and bias strategy. In terms of path optimization, the way of connecting new nodes to the tree is improved and a new rewiring algorithm from the root node is proposed to shorten the path length. The simulation results show that our algorithm is effective in most environments and provides a new way to solve the real-time path planning problem. © 2024 Copyright held by the owner/author(s).

关键词： Motion planning

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Design of the Slave Hand Structure and Interference Detection for the Master-Slave Craniotomy Surgical robot 2

Design of the Slave Hand Structure and Interference Detectio...

引用

2nd international conference on Intelligent Equipment and Special robots, ICIESR 2023

作者： Zhao, Lei Zhang, Guobin Li, Zehua Liu, Zhenzhong Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

ISBN: (纸本)9781643685144

Existing neurosurgical robots are prone to interfering with each other in a narrow operating space due to the overlapping of several arms, which poses a great safety risk during surgery. In this paper, a 7-DOF dual-arm robot is designed to cooperate with the surgeon to complete craniotomy by manipulating the master hand mechanism. Aiming at the pain point that two real-time dynamic slave hands are prone to interference, this paper establishes a simplified model of the robot envelope, and transforms the interference detection problem between the robots into the interference checking of geometric primitives. If the interference between the two arms is detected by the algorithm, the surgical path of the current robotic arm is immediately terminated to ensure the safety of the surgery. Finally, the algorithm is simulated and verified with the robot designed in this paper. The results show that the algorithm is feasible and has high computational efficiency. © 2024 The Authors.

关键词： Structural design

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Proposal and Simulation Analysis of a Centipede Type robot Dynamically Adjusting Body Stiffness to Harness Favorable Environmental Effects for Navigation in Unknown 3D Environments 2

Proposal and Simulation Analysis of a Centipede Type Robot D...

引用

2nd international conference on Automation, robotics and Computer Engineering, ICARCE 2023

作者： Xiao, Runze Osuka, Koichi Tsunoda, Yusuke Osaka University Department of Mechanical Engineering Osaka Japan

ISBN: (纸本)9798350308341

In navigating robots through intricate three- dimensional (3D) unknown terrains, traditional methods often require complex control and sensing systems to perceive and counteract the environment, treating them largely as 'obstacles'. Contrasting these conventional approaches, our study posits a novel perspective, viewing the environment as an 'assistant'. Building on this notion, we introduce a centipede-inspired robot with implicit control. Crucially, this robot dynamically adjusts its body stiffness, maximizing the beneficial influences of the environment for navigation. Using this distinctive strategy as our foundation, we carried out simulation experiments in the CoppeliaSim environment. Preliminary findings underscore that, by leveraging the stiffness adjustments, the proposed method achieves efficient navigation with simple controls, eliminating the need for intricate obstacle detection or path planning. © 2023 IEEE.

关键词： Navigation

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ROS Based Wireless Teleoperation System for robots 2

ROS Based Wireless Teleoperation System for Robots

引用

2nd international conference for Innovation in technology, INOCON 2023

作者： Gomes, Arthur Nagavekar, Meghang Dsouza, Jeane Marina Manipal Institute of Technology Mechatronics Engineering Manipal Academy of Higher Education Manipal India Manipal Institute of Technology Instrumentation and Control Engineering Manipal Academy of Higher Education Manipal India

ISBN: (纸本)9798350320923

ROS (robot operating system) is rapidly becoming the operational framework of choice for all robotic control and navigation applications. Consumer and industrial robots are increasingly being integrated with ROS packages. This paper proposes a wireless controller system for teleoperating any ROS compatible robot platform. The controller is itself a microcontroller-based device with a long-range serial transceiver. The microcontroller of choice is the STM32F103C8 and the transceiver is an HC-12 serial communication module. An identical transceiver module is also utilized at the ROS master's end to establish point to point communication for transmission of serialized ROS messages. The system maintains steady connection without loss of bandwidth. The system also ensures that ROS messages from other nodes can be made available to the controller. The controller can be programmed for direct integration with ROS open-source framework and packages without any requirement for middleware. It is efficient, effective and easy to debug. A controller of this description could potentially be applied in areas requiring real time teleoperation of ROS based robotic systems like manipulators, mobile robots and drones. The system is reliable, fast and upgradable as per the user's requirements. © 2023 IEEE.

关键词： controllers

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Intellectual Design of Bomb Identification and Defusing robot based on Logical Gesturing Mechanism 2

Intellectual Design of Bomb Identification and Defusing Robo...

引用

2nd IEEE international conference on Advances in Computing, Communication and Applied Informatics, ACCAI 2023

作者： Shyam, M. Amalasweena, M. Suvitha, S. Balasaranya, K. Renugadevi, R. Chandran, K. Prabhu R.M.K. Engineering College Department of ECE Chennai India R.M.D. Engineering College Department of ECE Chennai India S.A. Engineering College Department of ECE Chennai India R.M.D. Engineering College Department of Cse Chennai India R.M.K. Engineering College Department of Cse Chennai India Prathyusha Engineering College Department of ECE Chennai India

ISBN: (纸本)9798350315905

Expanding human wants coincide with the development of ever more sophisticated technologies. The majority of this study focuses on robotic arms, which are used daily in the job done to satisfy these objectives and make life simpler. Mechanical limbs can interact with humans or be programmed to follow specific instructions. Law enforcement officers face a high-stakes, high-precision challenge while neutralizing explosives, since any misstep might result in serious injury or death. An idea derived from wireless bomb disposal robots is offered as a solution to the issue. Through using wireless control module, the robot will dispose of the explosive. A transmitter makes up the control module, while a receiver makes up the robot itself. An ARDUINO UNO R3 board connects to the receiver module. Input from the transmitter controls the robot's actions. An LCD screen is connected to a wireless video receiver in the control module, so you can watch what the camera captures on the screen. The robot may be operated with a wave of the hand thanks to a sensor module linked to an Arduino Nano microcontroller. The hand gesture based robot is better option to pick up the explosive items and diffusing © 2023 IEEE.

关键词： robotic arms

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Embedded PID controller Design Based Self Adjusting robot 2

Embedded PID Controller Design Based Self Adjusting Robot

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2nd international conference on Artificial Intelligence and Smart Energy, ICAIS 2022

作者： Ramasamy, S. Senthilkumar, N. Karpagam, S. Ramani, U. Swetha, B. Malla Reddy College of Engineering and Technology Hyderabad India N.G.P. Institute of Technology Coimbatore India Sri Eshwar College of Engineering Coimbatore India K. Ramakrishnan College of Engineering Trichy India

ISBN: (纸本)9781665400527

Self-adjusting robots are a subject of interest among understudies, advanced mechanics and specialists all throughout the planet. A critical component in keeping up with the robot in the upstanding position is an assessment of the slant point. Also, the procedure where the equipment was picked and assembled has been advocated. One strategy that is generally utilized for portable robots is a modified pendulum based model. The objective of this task is to make a control framework for oneself adjusting robots to be in the stable. Dissimilar to the next portable robot which is precisely steady in its standing position, adjusting robot needs an adjusting control which requires a point worth to be utilized as slant input. The adjusting control will control the robot, so it can keep up with its standing position. Other than the adjusting control itself, the development of adjusting robot needs its own control to control the development while keeping the robot adjusted. This can be accomplished by tuning the PID with the gyroscopic and accelerometric sensor. The PID regulator calculation execution would be an ideal test model of this robot. Carrying out these sorts of robots in the ventures will work on the economy of the organization too decreases the danger variable to the people in the dangerous conditions and this can be the base model for oneself adjusting applications. © 2022 IEEE.

关键词： robots

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