An originality multi-DIM vibration absorption device with single-layer is presented. It uses the parallel mechanism as the main mechanism, associating elastic damping system with the primary component of mechanism. So...
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This paper designs a measurement system of energy consumption for clothes model controlled by robottechnology, the system uses DC motor regulated by PWM regulator to drive the worm wheel reducer and the sinusoidal me...
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This paper designs a measurement system of energy consumption for clothes model controlled by robottechnology, the system uses DC motor regulated by PWM regulator to drive the worm wheel reducer and the sinusoidal mechanism, then to drive the robot legs to swing forward and backward in sinusoidal step. The sensors detect the rotation speed and torque of the sinusoidal mechanism, the power and energy consumption. The experiments show the system is high in accuracy, excellent in repetition, and suitable for the further research on the principle and evaluation system of the clothes energy consumption.
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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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.
In order to enhance openness and flexibility of industrial robotcontrol system, an open control system based on double-CPU was designed. An embedded industrial computer based on x86 CPU with Windows XP worked as the ...
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In order to enhance openness and flexibility of industrial robotcontrol system, an open control system based on double-CPU was designed. An embedded industrial computer based on x86 CPU with Windows XP worked as the upper-system, which implemented HMI and management of the open control system. A FPGA(Field Programmable Gate Array) and another same embedded industrial computer with RT-Linux worked as the lower-system, which implemented realtime motion control of the open control system. Ethernet based on a user-defined Ethernet type was used for exchanging data between the two CPU. Experimental results of the open control system being used for controlling a 5 DOF(Degrees of Freedom) flexible-joint manipulator demonstrate that performance of the system can satisfy requirements of different industrial robot application.
A new algorithm has been used in the location system of rescue robot based on the plus of degree of trust,which has good *** studying the comparison of four data fusion algorithm results we verified the feasibility of...
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A new algorithm has been used in the location system of rescue robot based on the plus of degree of trust,which has good *** studying the comparison of four data fusion algorithm results we verified the feasibility of the new algorithm using Matlab *** on robot platform to simulate environment in coal mine verified the reliability of algorithm in the complex *** results show that the algorithm of the plus of degree of trust has better robust performance,which can filtrate the disturbance in multiple disturb *** proposed localization system can be applied for the complicated environments like coal mine to obtain better localization results.
During rehabilitative training, a 3-DOF wire-driven parallel robot driven was designed to coordinate andcontrol the trainer pelvis movementBased on the force balance equation of the end-effector, the stiffness proble...
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During rehabilitative training, a 3-DOF wire-driven parallel robot driven was designed to coordinate andcontrol the trainer pelvis movementBased on the force balance equation of the end-effector, the stiffness problem about the robot system was analyzed and one kind of force/position parallel control strategy was proposed that the position loop would realize the end-effector motion trajectory, and the force loop would control the wire tensionThe experimental results have shown that the robot systematic stiffness is related with the wire tension and can be changed to realize the compliance control of the robot system by adjusting the wire tension.
The purpose of this thesis is to develop a dynamic model of biped locomotion and implement a suitable controller for itThe locomotion aimed to be realized in this thesis is walking on a flat horizontal sueface in the ...
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The purpose of this thesis is to develop a dynamic model of biped locomotion and implement a suitable controller for itThe locomotion aimed to be realized in this thesis is walking on a flat horizontal sueface in the sagittal planea planar five-link biped robot, which consists of a torso, two thighs and two shanks, with five degree of freedom is modeledA gait cycle of the walking motion includes the single support phase(SSP), the impact phase and the support end exchange phaseThe dynamic equation at SSP is derived by using the Lagrangian formulation and the impact equation is derivd by using the momention change caused by the nonconservative force during impact and the constraint imposed in the impact leg.
In the CABG surgery the robot dynamically cancels the relative motion between the point of interest (POI) on the beating heart androbotic instruments,such that the surgeon can operate as if the heart is *** to high b...
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In the CABG surgery the robot dynamically cancels the relative motion between the point of interest (POI) on the beating heart androbotic instruments,such that the surgeon can operate as if the heart is *** to high bandwidth of the POI motion,the quick and precise tracking ability of the robot system is *** from other heart motion tracking system with only position measurement,our system had both position and acceleration measurement to achieve better tracking *** state analysis of the physical model of surgical robotic system offered us the possibility to decrease the tracking error by adding *** control algorithm based on the adaptive heart motion model employed the optimal tracking theory with Kalman Filter state estimation is *** result showing better tracking performance is achieved by the added acceleration measurement which provided pre-lead phase over position and more *** comparison tracking results with and without acceleration measurement which was experimented on 3D test bed Phantom robotics are reported.
In modern design on industry robots, the design methods of embedded system based on the model can be adopted to design the control system of the robot. After total design project of industry robot has been achieved, &...
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A novel robot learning algorithm called Predictive Sequence Learning (PSL) is presented and evaluated. PSL is a model-free prediction algorithm inspired by the dynamic temporal difference algorithm S-Learning. While S...
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ISBN:
(纸本)9789896740221
A novel robot learning algorithm called Predictive Sequence Learning (PSL) is presented and evaluated. PSL is a model-free prediction algorithm inspired by the dynamic temporal difference algorithm S-Learning. While S-Learning has previously been applied as a reinforcement learning algorithm for robots, PSL is here applied to a Learning from Demonstration problem. The proposed algorithm is evaluated on four tasks using a Khepera II robot. PSL builds a model from demonstrated data which is used to repeat the demonstrated behavior. After training, PSL can control the robot by continually predicting the next action, based on the sequence of passed sensor and motor events. PSL was able to successfully learn and repeat the first three (elementary) tasks, but it was unable to successfully repeat the fourth (composed) behavior. The results indicate that PSL is suitable for learning problems up to a certain complexity, while higher level coordination is required for learning more complex behaviors.
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