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The researchment and application based on palletizing robot management controlling system project

The researchment and application based on palletizing robot ...

引用

2nd international conference on E-Business and E-Government, ICEE 2011

作者： Xiu-Li, Zhu Cheng-Wei, Li Wan-Hua, Qiu Beihang University Economics and Management Institute Beijing 100191 China Nan Kai University Business School Tianjin 300071 China

ISBN: (纸本)9781424486946

In the manufacturing work process of logistics automation systems, new technology development of logistics automation systems project management and transformation become the focus of many manufacturing managers. This paper which uses the idea of project management, designs user management control systems of the palletizing robot project, and uses VC++ to simulate motion control system, and it is well controlled. © 2011 IEEE.

关键词： Project management

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Impulsive push control for biped robot based on passive dynamic walking

Impulsive push control for biped robot based on passive dyna...

引用

2nd Annual conference on Electrical and control Engineering, ICECE 2011

作者： Han, Zongkai Zhou, Yali Zhang, Qizhi School of Automation Beijing Information Science and Technology University Beijing China

ISBN: (纸本)9781424481637

Focus on the study of a simplest biped robot, the dynamics of the biped locomotion is analyzed. In order to avoid swinging leg scrape the ground as it attempts to swing in front of the support leg, in this paper, a more complicated biped robot that has knees is designed. The knee of the swinging leg is bended during the swing phase, so the swinging leg is shorten. The robot is powered by using an impulse applied at the trailing support leg's heel immediately before heel strike. Combining the poincare map, the iterative learning control (ILC) law is applied to learn and control the desired impulsive push, and stable fixed point and limit cycle of the robot system can be found quickly, enforces the bipedal robot stable walking. The simulation results show that the ILC approach for biped walking control can track the different desired step length effectively. © 2011 IEEE.

关键词： Two term control systems

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Design and programming a graphical user interface for the IcasBot robot using LabVIEW

Design and programming a graphical user interface for the Ic...

引用

international conference on control, Instrumentation, and Automation

作者： M. Habibnejad Korayem M. Taherifar S. M. Maddah H. Tourajizadeh S. Khayatzadeh Robotic Research Laboratory School of Mechanical Engineering Iran University of Science and Technology Tehran Iran Iran University of Science and Technology Tehran Iran

The implementation of the distance learning and e-learning in technical fields like Mechanical and Electrical Engineering is still far behind the similar developments in narrative fields like Economy, management. New approach and new specific knowledge are required to develop such a system. We expect to meet the requirements of distance learning by developing the software-based laboratory exercises, i.e., a virtual laboratory. That's why a graphical user interface (GUI) and simulator is designed here using LabVIEW software for the cable robot of IcasBot (IUST Cable Suspended robot) with 6 DOFs and 6 actuating cables. This interface is designed to be used for training the users in a virtual environment. This proposed GUI Consists of 4 main sections including of kinematics and Dynamics of cable robot and simulator of robot which is employed to display the virtual motion of the end-effector. Using the proposed GUI in this paper, the user is able to view and study the end-effector motion in a virtual environment before operating the tests on the real robot. Also this software package is designed in a way that could be applicable for simulating all sorts of robots in order to train the users of educational and industrial environments.

关键词： Instruments Automation

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Simulation of robot stereo vision motion platform based on virtual prototyping technology

Simulation of robot stereo vision motion platform based on v...

引用

international conference on Artificial Intelligence, Management Science and Electronic Commerce (AIMSEC)

作者： Zhonggao Yang Yili Cheng Department of mechanical engineering Guangdong College of Industry and Commerce Guangzhou China Department of computer science Guangdong College of Industry and Commerce Guangzhou China

Binocular stereo vision motion platform with 3-DOF is designed by UG soft in this paper, the structure and control system of the platform is simulated by using ADAMS and MATLAB in order to verify the rationality and k... 详细信息

ISBN: (纸本)9781457705359

关键词： Stereo vision Torque control systems Solid modeling Tracking robots MATLAB

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Modeling and control of a rotor aerial robot system

Modeling and control of a rotor aerial robot system

引用

2nd Annual conference on Electrical and control Engineering, ICECE 2011

作者： Hou, Xuyang Ruan, Xiaogang Electronic Information and Control Engineering College Beijing University of Technology Beijing China

ISBN: (纸本)9781424481637

In order to overcome the shortcomings of the dynamic structure of the ducted-fan aircraft, the paper proposes a new design of the disk-typed autonomous aerial robot based on rotor aerodynamic, named Micro aerial robot(MAR). MAR adopts inner and outer double-rotor system and disk-type body structure, and has some unique dynamic characters. Using the Newton-Euler modeling method, a six degrees of freedom(6 DOF) dynamic model of the system is established. The analysis of the MAR mathematic model shows that the system is non-linear and half coupleing, so the paper proposes a dual-loop non-linear PID control method(DLNPID) to achieve attitude and position control of the MAR. The simulation results validates the effectivenss of the design and control method of the system. © 2011 IEEE.

关键词： Machine design

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Simulation and control of a multi-DOF laparoscopic tele-surgery system in virtual reality

Simulation and control of a multi-DOF laparoscopic tele-surg...

引用

international conference on control, Instrumentation, and Automation

作者： Farshid Alambeigi Saeed Behzadipour Gholamreza Vossoughi Farzam Farahmand Sharif University of Technology and a research assistant at Robotic Surgery lab. Research Center for Science and Technology In Medicine (RCSTIM) Tehran University of Medical Sciences Tehran Iran Center of Excellence in Design Robotics and Automation (CEDRA) at Sharif University of Technology Tehran Iran Robotic Surgery Lab at Research Center for Science and Technology in Medicine (RCSTIM) Tehran University of Medical Sciences Tehran Iran

A tele-surgery system with force feedback is completely modeled in the MATLAB-Simulink software. The virtual rapid robot prototyping is used to import the SolidWorks models of the master and slave robots to MATLAB-SimMechanics. This method provides us with the 3D vision of the robot performance in the virtual reality environment. Each robot has 4- DOF in motion and is equipped with a 6-DOF force/torque sensor. A proper damping controller is designed in order to provide the sense of real surgery. This method uses the differences between the measured forces in master and slave sensors in order to generate the velocity command for the master actuators. To model the behavior of the surgeon hand in the real operation, a variable force/torque is applied to the tool handle and the reaction of the system is studied in the virtual reality environment. It can be claimed from the results that this method acceptably provides the situation of a real surgery for a multi-DOF robotic surgery system.

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Mobile sensor network node deployment via Central Voronoi Tessellation

Mobile sensor network node deployment via Central Voronoi Te...

引用

international conference on Intelligent control and Information Processing (ICICIP)

作者： R. Xiong Y. Q. Bai W. Sun X. Liu School of Automation and Key Laboratory of Complex Systems Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing China

The present work focuses on the node deployment algorithm of Wireless Sensor Networks. The Central Voronoi Tessellation algorithm is employed to optimize the node position. The energy consumption of the whole sensor network will be minimized by using this algorithm. Simulation of the proposed algorithm shows the effectiveness of minimizing the energy consumption.

关键词： robot sensing systems Wireless sensor networks Mobile communication Mobile robots Mobile computing Classification algorithms

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Kinematic analysis for the wire-driven aid walking robot

Kinematic analysis for the wire-driven aid walking robot

引用

2nd Annual conference on Electrical and control Engineering, ICECE 2011

作者： Wang, Keyi Meng, Hao Ma, Fangchao Wang, Wei College of Mechanical and Electrical Engineering Harbin Engineering University Harbin China

ISBN: (纸本)9781424481637

For the needs of the rehabilitation training of lower limbs, a wire-driven aid-walking robot is proposed, and the kinematic research is done in this paper. This aid-walking robot is designed according to the skeletal structure of lower limbs of the normal person. After this, the kinematic model of this system is built based on D-H method. By this model, the relationship between the length of wires and angles of body joints are obtained. To realize the physiological changing of body joints, the robot is simulated in MATLAB/Simulink, and the changing laws of lengths and velocities of wires are calculated. The results indicate that this wire-driven aid-walking robot is feasible, and provide the basis for the later dynamic analysis and servo control of this robot. © 2011 IEEE.

关键词： Wire

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Kinematic analysis of 3-PRS parallel robot for using in satellites tracking system

Kinematic analysis of 3-PRS parallel robot for using in sate...

引用

international conference on control, Instrumentation, and Automation

作者： M. H. Fatehi A. R. Vali M. Eghtesad A. A. Fatehi J. Zarei Department of Electrical Engineering Islamic Azad University Kazerun Iran Department of Electrical Engineering Islamic Azad University Damavand Iran Department of Mechanical Engineering of Shiraz University Shiraz Iran Department of Civil Engineering Islamic Azad University Kerman Iran Department of Electrical and Electronics Engineering Shiraz University of Technology Iran

Due to parallel robot stiffness, more high loading capability and positioning accuracy than conventional serial robots, they can be considered to implementation in satellite tracking systems. In addition, according to unique kinematic characteristics of this kind of robots, they are able to avoid singularity in near zenith angle during the tracking. In this paper a 3-PRS Parallel robot for using in LEO satellite tracking system is presented and its kinematic analysis for this application is investigated and constraint equations for satellite trajectory tracking are extracted. Simulation results verify that this 3-PRS Mechanism could track the Satellite trajectories out of singularity and with high accuracy.

关键词： Equations Vectors Satellites Kinematics Joints robots Jacobian matrices

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Design, production, and fuzzy control of an automated guided vehicle robot platform with capability of path following

Design, production, and fuzzy control of an automated guided...

引用

international conference on control, Instrumentation, and Automation

作者： Morteza Ahmadi Kermanshahi Majed Rostamian Abbas Vosough Qazvin Branch Islamic Azad University Iran Department of Electrical Engineering Ottawa University Canada Department of Electrical Engineering K.N. Toosi University of Technology Iran

Application of robots and their operation in various industries, as well as involvement of Computer Integrated Manufacturing (CIM) in production systems and processes have been widely used internationally in the last couple of decades. The most important advantage of operating robots and automated systems are acceleration in production speed, higher efficiency, and solving workforce problems involved in the production process, while maintaining standardized levels of safety in dangerous and unfavorable working environment. In the present article different stages of design, building, and operational tests of an Automated Guided Vehicle (AVG) is to be reviewed. Initially, various stages of developing the design of different parts of the robot, with respect to the operational requirements, standards and existing criteria's are considered and duly presented. Additionally, a fuzzy controller is designed, having taken into account the robot operational objectives. Upon finalizing the design development the project shall enter into manufacturing phase, by completion of which, the robot undergoes operational testing process. The test results indicate an acceptable good performance of the robot in path following capability, reduction in error levels, and operation in un-programmed conditions.

关键词： Mobile robots robot kinematics Service robots Wheels Software

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