This paper introduces a new concept of automation for bio-production with tele-operative system. The proposed system showed practical and feasible way of automation for the volatile bio-production process. Based on th...
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This paper introduces a new concept of automation for bio-production with tele-operative system. The proposed system showed practical and feasible way of automation for the volatile bio-production process. Based on the proposition, recognition of the job environment with object identification was performed using computer vision system. A man-machine interactive hybrid decision-making, which utilized a concept of tele-operation was proposed to overcome limitations of the capability of computer in image processing and feature extraction from the complex environment image. Identifying watermelons from the outdoor scene of the cultivation field was selected to realize the proposed concept. Identifying watermelon from the camera image of the outdoor cultivation field is very difficult because of the ambiguity among stems, leaves, shades, and especially fruits covered partly by leaves or stems. The analog signal of the outdoor image was captured and transmitted wireless to the host computer by R. F module. The localized window was formed from the outdoor image by pointing to the touch screen. And then a sequence of algorithms to identify the location and size of the watermelon was performed with the local window image. The effect of the light reflectance of fruits, stems, ground, and leaves were also investigated.
The centralized formulation for the inertia element of robot dynamics found by using the composite rigid body is very efficient. However, the corresponding formulation for the centrifugal, Coriolis, and gravity elemen...
The design of a highly anthropomorphic human scale robot hand for space based operations is described. This five finger hand combined with its integrated wrist and forearm has fourteen independent degrees of freedom. ...
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Disassembly automation especially for electronic devices is absolutely necessary worldwide in the nearest future because of the dramatically increasing amount of electronic scrap. Concerning the recycling logistics, a...
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Disassembly automation especially for electronic devices is absolutely necessary worldwide in the nearest future because of the dramatically increasing amount of electronic scrap. Concerning the recycling logistics, a new concept for this purpose based on `disassembly families' as well as flexible, modular, intelligent disassembly cell is presented.
A manipulator mounted on a moving vehicle is called a mobile manipulator. A mobile manipulator with an appropriate suspension system can pass over uneven surfaces, thus having an infinite workspace. If the manipulator...
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The paper is concerned with the application of adaptive critic techniques to feedback control of nonlinear systems using neural networks (NN). No initial model for the nonlinear system is necessary. The work shows how...
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The paper is concerned with the application of adaptive critic techniques to feedback control of nonlinear systems using neural networks (NN). No initial model for the nonlinear system is necessary. The work shows how to cope with nonlinearities through adaptive critics with no preliminary off-line learning required. The proposed scheme consists of a feedforward action generating NN that compensates for the unknown system nonlinearities. The learning of this NN is performed online based on a signal from a second neural network acting as a critic. The critic NN tunes itself online using the performance measure of the system. Both NN tuning algorithms are based on backpropagation, which must be modified to guarantee closed-loop performance. The two algorithms are derived using nonlinear stability analysis, so that both system tracking stability and error convergence can be guaranteed in the closed-loop system.
The design of a highly anthropomorphic human scale robot hand for space based operations is described. This five finger hand combined with its integrated wrist and forearm has fourteen independent degrees of freedom. ...
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ISBN:
(纸本)0791816346
The design of a highly anthropomorphic human scale robot hand for space based operations is described. This five finger hand combined with its integrated wrist and forearm has fourteen independent degrees of freedom. The device approximates very well the kinematics and required strength of a space suited astronaut's gloved hand. The mechanisms used to meet these requirements are explained in detail along with the design philosophy behind them. Integration experiences reveal the challenges associated with obtaining the required capabilities within the desired size. The initial finger control strategy is presented along with examples of obtainable grasps.
A highly anthropomorphic human scale robot hand designed for space based operations is presented. This five finger hand combined with its integrated wrist and forearm has fourteen independent degrees of freedom. The d...
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A highly anthropomorphic human scale robot hand designed for space based operations is presented. This five finger hand combined with its integrated wrist and forearm has fourteen independent degrees of freedom. The device approximates very well the kinematics and required strength of an astronaut's hand when operating through a pressurized space suit glove. The mechanisms used to meet these requirements are described in detail along with the design philosophy behind them. Integration experiences reveal the challenges associated with obtaining the required capabilities within the desired size.
Joint acceleration feedback control of high bandwidth is employed to damp oscillations during both the contact transition and force tracking phase. In this control scheme, a classical integral force controller is refi...
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Joint acceleration feedback control of high bandwidth is employed to damp oscillations during both the contact transition and force tracking phase. In this control scheme, a classical integral force controller is refined by means of joint acceleration and velocity feedback. This is intended to achieve a stable contact transition without need for adjusting the controller parameters adaptive to the unknown or changing environments, and also to stabilize the force tracking control in the presence of abrupt disturbances during the post-contact phase. Extensive experiments are conducted on the third joint of a three-link direct-drive robot to verify the proposed scheme for various stiffness of the contacted environments, including elastic (sponge) less elastic (cardboard) and hard (steel plate) surfaces. Results are compared with experimental ones by transition control without acceleration feedback.
Parallel mechanisms frequently contain an unstable type of singularity that has no counterpart in serial mechanisms. When the mechanism is at or near this type of singularity, it loses the ability to counteract extern...
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Parallel mechanisms frequently contain an unstable type of singularity that has no counterpart in serial mechanisms. When the mechanism is at or near this type of singularity, it loses the ability to counteract external forces in certain directions. By altering the mechanism through, for example, additional kinematic linkages, the singularity can be modified or even removed. Another approach is to actuate certain unactuated degrees of freedom. The manipulability is guaranteed to improve over the original mechanism, but the mechanism is now over-actuated. By studying a recently proposed parallel machining center, we examine the effectiveness of singularity modification through redundant actuation. As a metric, we use the condition number of the recently developed manipulability ellipsoid for general parallel mechanisms.
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