检索结果-内蒙古大学图书馆

Multiple solution algorithm with applications to robot kinematics

JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING 2017年第4期39卷 1313-1321页

作者： Platt, G. M. Neto, F. D. Moura Domingos, R. P. Kappel, M. A. A. Bastos, I. N. Univ Estado Rio De Janeiro Inst Politenico Rua Bonfim 25 BR-28625570 Nova Friburgo Brazil

In this work, we present a new framework devoted to the numerical solution of nonlinear algebraic systems. The algorithm is composed by a symbiotic organisms search and a repulsion technique. The systematic repetition of a metaheuristic algorithm in order to find the full set of solutions tends to fail since, at times, the same solution is found over and over again. The methodology proposed here, incorporating a repulsion technique, changes the behavior of the symbiotic organisms search, allowing for a better probability of finding a high number of solutions. We tested the methodology in two examples, one of which is the inverse kinematics problem for puma robot. We present a detailed study of the effect that some control parameters have, showing how to increase the probability of identifying more solutions. Overall, the results validate the enhancement attained by the methodology in finding the full set of solutions of the problem.

关键词： Metaheuristic Symbiotic organisms search puma robot

来源：评论

学校读者我要写书评

暂无评论

Development of 5 DOF robot Arm -Gripper for sorting and investigating RTM Concepts

Development of 5 DOF Robot Arm -Gripper for sorting and inve...

引用

5th International Conference on Materials Processing and Characterization (ICMPC)

作者： Basu, Rahul Padage, Swathi Sambhram Inst Technol Mech Engn Depatment VTU Bangalore 560097 Karnataka India Sambhram Inst Technol Mech Engn Dept Bangalore 560097 Karnataka India

Economy of motion in robots assembly lines, microelectronics, medical and space applications has not received much attention. It is however, as challenging and important as efficiency and ergonomics is to human beings in the factory workplace. Production lines with humans are prone to human fatigue. Hence robotic units are replacing human sorters for production line work. Mechanised operations are usually limited to batch processes with identical items taken from a conveyor belt and placed in a bin or stack. A further extension is to use AI programs to enable discrimination of objects and sorting into separate bins or stacks. In the present study a 5 d.o.f. arm kit was assembled by students and used to understand simple robotic concepts like degree of freedom, gripper action, pick and place, palletisation and other topics in a lab syllabus together with online simulators where factory robots are simulated. Basic algorithms are explored by testing with the 5 dof puma arm. The addition of tactile and visual interfaces for pick and sort are discussed. Sample outputs are illustrated. (C) 2017 Elsevier Ltd. All rights reserved.

关键词： puma robot RTM Palletization ergonomics

来源：评论

学校读者我要写书评

暂无评论

Application of Optimal Algorithm in Vacuum Path Planning of robot 14

Application of Optimal Algorithm in Vacuum Path Planning of ...

引用

14th IEEE International Workshop on Advanced Motion Control (AMC)

作者： Su Qinghua Bi Shusheng Beihang Univ Sch Mech Engn Beijing 100191 Peoples R China Beihang Univ Automat Robot Inst Beijing 100191 Peoples R China

ISBN: (纸本)9781479984640

In this paper, we bring forward a BP algorithm condition modeling and an attitude modeling based on puma robot vacuum path planning. Considering the limitation of the traditional particle swarm optimization(PSO) in searching space and easily running into local optimal points. We introduced the re-initialization mechanism based on the global information feedback to modified particle swarm optimization (MPSO) algorithm in this paper. To combine the MPSO algorithm with BP network algorithm before applying it in Vacuum Path Planning of puma robot. Then the mixed BP-MPSO optimal algorithm can not only avoids the difficulty in solving the inverse motion equations, but also ensures that the optimal solution, which can obtains the global optimal aim instead of falling into local extremer. The results of simulation experiment show that this algorithm can well enhance the efficiency of vacuum path planning.

关键词： puma robot Vacuum path planning Target modeling BP algorithm MPSO optimal algorithm

来源：评论

学校读者我要写书评

暂无评论

A QP artificial neural network inverse kinematic solution for accurate robot path control

引用

JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY 2006年第7期20卷 917-928页

作者： Yildirim, Sahin Eski, Ikbal Erciyes Univ Fac Engn Mech Engn Dept TR-38039 Kayseri Turkey

In recent decades, Artificial Neural Networks (ANNs) have become the focus of considerable attention in many disciplines, including robot control. where they can be used to solve nonlinear control problems. One of these ANNs applications is that of the inverse kinematic problem, which is important in robot path planning. In this paper, a neural network is employed to analyse of inverse kinematics of puma 560 type robot. The neural network is designed to find exact kinematics of the robot. The neural network is a feedforward neural network (FNN). The FNN is trained with different types of learning algorithm for designing exact inverse model of the robot. The Unimation puma 560 is a robot with six degrees of freedom and rotational joints. Inverse neural network model of the robot is trained with different learning algorithms for finding exact model of the robot. From the simulation results, the proposed neural network has superior performance for modelling complex robot's kinematics.

关键词： Artificial Neural Network robot path control puma robot

来源：评论

学校读者我要写书评

暂无评论

Application study of robotic control system based on force information

Application study of robotic control system based on force i...

引用

International Conference on Information Acquistition

作者： Wang, XJ Ge, YJ Xiao, B Yu, Y Chinese Acad Sci Grad Sch Inst Intelligent Machines Hefei 230031 Peoples R China

ISBN: (纸本)0780386299

Considering the deficiency of present robotic force control algorithm, we introduce artificial intelligent method in this paper. We attempt to combine fuzzy control theory with impedance control strategy, and attempt to control the external force on the robotic end-effector by this quomodo. The structure of the system is presented and the force controller is designed. Finally we show the results based on the practical experiments. It is a more effective strategy to solve the robotic force control problem.

关键词： puma robot six axes force/moment sensor force control fuzzy control theory

来源：评论

学校读者我要写书评

暂无评论

A neural network-based method for time-optimal trajectory planning

引用

robotICA 1998年第2期16卷 143-158页

作者： Fang, G Dissanayake, MWMG Univ Western Sydney Nepean Sch Mech Automat Engn Kingswood NSW 2747 Australia Univ Sydney Dept Mech & Mechatron Engn Sydney NSW 2006 Australia

Planning appropriate trajectories can significantly increase the productivity of robot systems. To plan realistic time-optimal trajectories, the robot dynamics have to be described precisely. In this paper, a neural network based algorithm for time-optimal trajectory planning is introduced. This method utilises neural networks for representing the inverse dynamics of the robot. As the proposed neural networks,can be trained with data obtained from exciting the robot with given torque inputs, they will capture the complete dynamics of the robot system. Therefore, the trajectories generated will be more realistic than those obtained by using nominal dynamic equations based on nominal parameters. Time-optimal trajectories are generated for a puma robot to demonstrate the proposed method.

关键词： neural network trajectory planning inverse dynamics puma robot

来源：评论

学校读者我要写书评

暂无评论

CONTROL STRATEGY FOR A REDUNDANT puma MANIPULATOR

引用

robotICA 1994年第4期12卷 361-369页

作者： ALLGEUER, H VIENNA TECH UNIV DIV MATH CONTROL & SIMULAT A-1040 VIENNA AUSTRIA

In this paper a control strategy for a redundant puma robot is presented. This robot is obtained from the conventional puma robot by addition of a joint parallel to the elbow joint. For redundancy resolution the following approach is chosen. From the position and pointing direction of the end effector of the puma robot the position and orientation of the fourth link of a 4R-manipulator is calculated and the redundancy is resolved for this manipulator. This is done by adding an equation to the relationship between the joint angles and position and orientation of the fourth link. By this approach a control strategy is derived that allows motions of the end effector of the puma robot in a large part of its work space and shows repeatable behaviour. Furthermore, the redundancy is utilized so that the flexture of the wrist is kept small.

关键词： CONTROL STRATEGY REDUNDANT MANIPULATOR puma robot END EFFECTOR

来源：评论

学校读者我要写书评

暂无评论

Modelling of the puma robot for Control of Grinding Applications

引用

IFAC Proceedings Volumes 1991年第3期24卷 711-716页

作者： H. Dai A.K. Srivastava M.A. Elbestawi N.K. Sinha Department of Mechanical Engineering McMaster University Hamilton Ontario Canada L8S 4L7 Department of Electrical and Computer Engineering McMaster University Hamilton Ontario Canada L8S 4L7

In this paper, the identification problem of the puma 762 robot for grinding applications is considered by using several different recursive identification methods. A detailed procedure of modelling the robot is described. Various experiments have been performed using the puma 762/VAL II industrial robot equipped with a 4 Hp pneumatic grinder and a JR 3 force sensor. The puma 762 robot has been successfully modelled by a linear third order model with reliable accuracy. The nonlinearities of the robot have been investigated by utilizing different pseudorandom binary sequence (PRBS) signals. Clearly, these linear models, representing the input-output dynamics of the robot, will make it possible to design and develop adaptive controllers for the robotic grinding process.

关键词： Identification modelling Industrial robots puma robot grinding process

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：