检索结果-内蒙古大学图书馆

A complete analytical solution for the dimensional synthesis of 3-DOF delta parallel robot for a prescribed workspace

引用

MECHANISM AND MACHINE THEORY 2020年 153卷 103991-103991页

作者： Dastjerdi, Amir Hashemi Sheikhi, Mohammad Morad Masouleh, Mehdi Tale Univ Shahid Rajaee Teacher Training Univ SRTTU Sch Mech Engn Tehran Iran Univ Tehran Sch Elect & Comp Engn Human & Robot Interact Lab Tehran Iran

This paper presents an analytical approach for the dimensional synthesis of the 3-DOF delta parallel robot for a prescribed workspace. The dimensional synthesis of parallel robots is a challenging problem for which obtaining an analytical solution is a cumbersome task and no appropriate analytical closed-form solution has been developed for the DPR so far. First, the workspace is analytically calculated based on inverse kinematic and it showed that the workspace of DPR comes from some geometric conditions. Afterward, the largest possible box which can be inserted in the workspace is obtained. Optimal analytical dimensional design for a prescribed workspace is calculated by considering three types of construction constraints. Optimization objectives based on subjective and the smallest robot criterion have been defined which is optimized by resorting to the so-called Lagrange multiplier method. The results revealed that in the best case of the existing industrial robots, workspace expression is only close to %87.29 of the optimal workspace of this paper and in optimal design it could have up to %51.70 smaller robot with the same given workspace. (C) 2020 Elsevier Ltd. All rights reserved.

关键词： parallel manipulators delta parallel robot Workspace analysis Dimensional synthesis Geometrical approach

来源：评论

学校读者我要写书评

暂无评论

An Intelligent Compensation Through B-Spline Neural Network for a delta parallel robot 6

An Intelligent Compensation Through B-Spline Neural Network ...

引用

6th International Conference on Control, Decision and Information Technologies (CoDIT)

作者： Escorcia-Hernandez, Jonatan Martin Aguilar-Sierra, Hipohto Aguilar-Mejia, Omar Chemori, Ahmed Arroyo-Nunez, Jose Humberto Univ Politecn Tulancingo Calle Ingn 100 Tulancingo Hidalgo 43629 Mexico Univ Popular Autonoma Estado Puebla Dept Posgrad Puebla 72410 Mexico Univ Montpellier LIRMM CNRS 161 Rue Ada F-34090 Montpellier France

ISBN: (纸本)9781728105215

In this paper a PD controller with intelligent compensation is used to solve the problem of tracking trajectories for a delta parallel robot with three degrees of freedom. This controller uses an artificial B-Spline neural network as a feedforward compensation term. To evaluate the proposed controller performance some numerical simulations under two different scenarios have been carried out in order to know its effectiveness respect to a simple PD controller.

关键词： delta parallel robot Learning systems Trajectory tracking

来源：评论

学校读者我要写书评

暂无评论

Adaptive Control of 3-DOF delta parallel robot

Adaptive Control of 3-DOF Delta Parallel Robot

引用

IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC)

作者： Aguilar-Mejia, O. Escorcia-Hernandez, J. M. Tapia-Olvera, R. Minor-Popocatl, H. Valderrabano-Gonzalez, A. UPAEP Univ Dept Invest & Posgrad Puebla Mexico Univ Politecn Tulancingo Tulancingo Hidalgo Mexico Univ Nacl Autonoma Mexico Cd De Mexico Mexico UPAEP Univ Puebla Mexico Univ Panamer Fac Ingn Zapopan Jalisco Mexico

ISBN: (纸本)9781728128986

In this paper an adaptive neural network controller is used to solve the problem of tracking trajectories of a delta parallel robot (DPR) with three degrees of freedom. This controller used an adaptive artificial B-Spline neural network (BSNN) for online training. The BSNN improves the performance of DPR on a closed loop and update the parameters of control scheme online. This algorithm sets the control signal without using a detailed mathematical model nor exact values of the parameters of the DPR. The proposed adaptive controller was compared with a traditional control based a PD+G contoller. Analytical and numerical results prove the robust and efficient performance of the adaptive neural network controller.

关键词： delta parallel robot B-Spline controller Trajectory tracking

来源：评论

学校读者我要写书评

暂无评论

Self-learning interval type-2 fuzzy neural network controllers for trajectory control of a delta parallel robot

引用

NEUROCOMPUTING 2018年 283卷 107-119页

作者： Lu, Xingguo Zhao, Yue Liu, Ming Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Heilongjiang Peoples R China Harbin Inst Technol Sch Astronaut Control Theory & Engn Harbin 150001 Heilongjiang Peoples R China

This paper presents a self-learning interval type-2 fuzzy neural network (SLIT2FNN) control scheme for trajectory tracking problem of a delta robot. This intelligent control scheme is computationally efficient and can be easily applied to existing equipment. The controller has a parallel structure, which combines an interval type-2 fuzzy neural network (IT2FNN) controller and a traditional proportional-derivative (PD) controller. We use the PD controller to compensate the transient performance, and use the IT2FNN to learn the dynamic characteristics of the system. A novel arrangement of trapezoidal interval type-2 fuzzy membership functions (IT2MF) is proposed, the arrangement enables the adaptation laws to have an analytical form. A learning algorithm based on sliding mode control (SMC) theory is proposed for the parameter training of the IT2FNN system. The control algorithm learns from the feedback error online and tunes the parameters of the IT2FNN, and will become the main source of the control signal after several learning iterations. Unlike model-based control, this control method has no requirement of prior information and constraint conditions from the robot plant. Lyapunov stability method is employed to prove asymptotic stability of the proposed approach. The structure of the SLIT2FNN and the operations in each layer are introduced in detail. The performance and robustness of the proposed controller is demonstrated on the delta robot trajectory tracking problems in the presence of structured and unstructured uncertainties. Simulation results illustrate that the proposed SLIT2FNN control approach produces higher trajectory tracking accuracy and more robust to uncertainties as compared to its counterparts. (c) 2017 Elsevier B.V. All rights reserved.

关键词： Interval type-2 fuzzy logic systems Neural network Intelligent control delta parallel robot Self-learning algorithm

来源：评论

学校读者我要写书评

暂无评论

Application of Motion Control System for delta parallel robot

Application of Motion Control System for Delta Parallel Robo...

引用

IEEE International Conference on Information and Automation (ICIA)

作者： Jian, Sheng Lou, Yunjiang Harbin Inst Technol Shenzhen Grad Sch Sch Mech Engn & Automat Shenzhen Key Lab Adv Mot Control & Modern Automat Shenzhen Peoples R China

ISBN: (纸本)9781538631546

This article presents a practical motion control system used in high speed delta parallel robot. Generally, a complete motion control system includes human-machine interface, motion controller, drivers, actuators, feedback cells and transmission mechanisms. In addition, the motion control system is always designed in accordance with specific mechanical structure and operating requirement. In this paper, the structure and kinematics analysis of delta parallel robot are introduced firstly, then we design an integrated motion control system for this robot, at last, an elliptical orbit experiment of delta parallel robot is used to verify the performance of this motion control system.

关键词： motion control system delta parallel robot kinematics

来源：评论

学校读者我要写书评

暂无评论

Workspace Analysis and Dynamic Object Tracking with a delta parallel robot

Workspace Analysis and Dynamic Object Tracking with a Delta ...

引用

3rd IEEE/IFToMM/ASME International Conference on Reconfigurable Mechanisms and robots (ReMAR)

作者： Zhang, Guoying Liu, Guanfeng Chen, Weinan Lin, Xieyuan Guan, Yisheng Guangdong Univ Technol High Educ Mega Ctr Sch Electromech Engn Guangzhou Guangdong Peoples R China

ISBN: (纸本)9783319233277;9783319233260

Dynamic tracking control of a delta parallel robot is usually for accurate positioning, swift picking and placing objects on the conveyor belt. Traditional PID tracking algorithm is used to predict the poses of the objects on the conveyor belt. However, this method cannot eliminate the problem of "ghost picks". To overcome the drawback, in this paper, we present an algorithm to adjust the moving speed and the terminal pose of the robot in real time so that the robot can track moving objects on the conveyor belt. Meanwhile, in order to achieve precise, swift and dynamic tracking and picking, the objects in the robotic workspace are screened and sorted. Furthermore, the operating and positioning status of the objects on the moving conveyor belt is updated in real time.

关键词： delta parallel robot Dynamic tracking PID Ghost picks Workspace Screening and sorting

来源：评论

学校读者我要写书评

暂无评论

Neural Network Based Dynamic Trajectory Tracking of delta parallel robot 12

Neural Network Based Dynamic Trajectory Tracking of Delta Pa...

引用

IEEE International Conference on Mechatronics & Automation

作者： Huang, Yuancan Huang, Zonglin Beijing Inst Technol Sch Mechatron Engn Beijing 100081 Peoples R China

ISBN: (纸本)9781479970988

This paper proposes a geometric method to solve the forward kinematic of the delta parallel robot and then study the workspace. The inverse kinematics is also presented as the prerequisite for the dynamics. A simplified dynamics model is built by using virtual work principle. As a result, computed torque method based controller is obtained, which needs the accurate parameters of the model. But high coupling and nonlinear properties of the dynamics model is so explicit that it becomes a major impediment to development. So Neural-Network based controller is proposed, in this paper, to compensate errors caused by the uncertainties of the model's parameters. A joint simulation is carried out for the computed-torque-based controller and Neural-Network-based controller. The results show that the performance of the proposed controller is prominent when the end effector tracks a given trajectory.

关键词： delta parallel robot Kinematics Dynamics Neural Network Trajectory Tracking

来源：评论

学校读者我要写书评

暂无评论

Neural Network Based Dynamic Trajectory Tracking of delta parallel robot

Neural Network Based Dynamic Trajectory Tracking of Delta Pa...

引用

IEEE International Conference on Mechatronics and Automation

作者： Yuancan Huang Zonglin Huang Sch. of Mechatronical Eng. Beijing Inst. of Technol. Beijing China

ISBN: (纸本)9781479970995

关键词： delta parallel robot Kinematics Dynamics Neural Network Trajectory Tracking

来源：评论

学校读者我要写书评

暂无评论

Multi-Modal Robust Geometry Primitive Shape Scene Abstraction for Grasp Detection

引用

IEEE ACCESS 2024年 12卷 130117-130134页

作者： Hosseini, Hamed Koosheshi, Mohammadhossein Masouleh, Mehdi Tale Kalhor, Ahmad Univ Tehran Dept Elect & Comp Engn Tehran *** Iran Human & Robot Interact Lab Tehran 143951374 Iran

Scene understanding is essential for a wide range of robotic tasks, such as grasping. Simplifying the scene into predefined forms makes the robot perform the robotic task more properly, especially in an unknown environment. This paper proposes a combination of simulation-based and real-world datasets for domain adaptation purposes and grasping in practical settings. In order to compensate for the weakness of depth images in previous studies reported in the literature for clearly representing boundaries, the RGB image has also been fed as input in RGB and RGB-D input modalities. The implemented architecture is based on the Mask R-CNN network with a backbone of ResNet101. By using RGB and RGB-D images as input, the proposed approach has thus improved the segmentation Dice score over primitive shape abstraction by 3.73% and 6.19%, respectively. Moreover, in order to improve and evaluate the robustness of the model to occlusion and a variety of primitive shapes and colors that may occur in the scene, different versions of simulation-based datasets are generated using the Coppeliasim simulator. Additionally, a real-world primitive shape abstraction dataset is created to make the model more robust in more complex objects and real-world experiments. To further generalize the model to apply to a wider range of objects, new primitive shapes, such as cones, and both filled and hollow types of each primitive shape, are considered. Subsequently, the point clouds of the segmented parts are generated, and the ICP algorithm is used to derive the 6-DOF grasp parameters using reference primitive shapes and their predefined grasps. Simulation experiments result in a 95% grasp success rate using the Coppeliamsim simulation environment on unseen objects. A delta parallel robot and a 2-fingered fabricated gripper are used for practical experiments. These experiments yielded a 98% grasp success rate on common objects used in baseline evaluations, outscoring the state-of-the-art by 2%. Re

关键词： robots Grasping Service robots Grippers Point cloud compression Deep learning Image analysis Multimodal sensors Grasp detection primitive shapes segmentation CoppeliaSim mask R-CNN delta parallel robot

来源：评论

学校读者我要写书评

暂无评论

Pythagorean-Hodograph curves-based trajectory planning for pick-and-place operation of delta robot with prescribed pick and place heights

引用

robotICA 2023年第6期41卷 1651-1672页

作者： Su, Tingting Liang, Xu Zeng, Xiang Liu, Shengda Beijing Univ Technol Beijing Inst Artificial Inteligence Beijing Peoples R China North China Univ Technol Dept Mech & Elect Engn Beijing Peoples R China Chinese Acad Sci CInst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China

In this paper, a Pythagorean-Hodograph (PH) curve-based pick-and-place operation trajectory planning method for delta parallel robots is proposed, which realizes the flexible control of pick-and-place operations to meet the requirements of various practical scenarios. First, according to the geometric relationship of pick-and-place operation path, different pick-and-place operations are classified. Then trajectory planning is carried out for different situations, respectively, and in each case, the different polynomial motion laws adopted by the linear motion segment and the curved motion segment are solved. Trajectory optimization is performed with the motion period as optimization objective. The proposed method is easier to implement, and at the same time satisfies the safety, optimization, mobility, and stability of the robot;that is, the proposed method realizes obstacle avoidance, optimal time, flexible control of the robot trajectory, and stable motion. Simulations and experiments verify the effectiveness of the method proposed in this paper. The proposed method can not only realize the fast, accurate, and safe operation in intelligent manufacturing fields such as rapid classification, palletizing, grasping, warehousing, etc., but its research route can also provide a reference for trajectory planning of intelligent vehicles in logistics system.

关键词： trajectory planning trajectory generation delta parallel robot pick-and-place operation Pythagorean-Hodograph curves

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：