A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular s...
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A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as micro-positioning device after grasping the object. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Pneumatic rotator is employed for actuation and a compact sized, 4/3 way proportional pressure valve is also developed to deal with feedback-based dynamic control. The pressure valve also allows indirect force control by measuring the offset pressure occurring due to contact between the grasped object and the parallel platform. In experimental work, performances of the motion tracking and indirect force control are shown satisfactory.
This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of ...
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This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.
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.
Currently, most commercial robot manipulators are equipped with conventional PID controllers due to their simplicity in structure and ease of design. Using such a controller, however, it is difficult to achieve a desi...
Currently, most commercial robot manipulators are equipped with conventional PID controllers due to their simplicity in structure and ease of design. Using such a controller, however, it is difficult to achieve a desired control performance since the dynamic equations of a mechanical manipulator are tightly coupled. In addition, they are highly nonlinear and uncertain. This paper uses a new hybrid control scheme to control a direct drive two-link manipulator under inertial parameters changes. The proposed hybrid control scheme consists of a fuzzy logic proportional controller and a conventional integral and derivative controller (FUZZY P+ID). In comparison with a conventional PID controller, only one additional parameter has to be adjusted to tune the FUZZY P+ID controller. The outlined experimental results demonstrate the effectiveness and the robustness of the new FUZZY P+ID controller.
Fuzzy classifier systems (FCS) implement a mapping from real numbers to real numbers, through fuzzy interpretation of input and output. Reinforcement learning (RL) algorithms can be successfully applied to develop lea...
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Fuzzy classifier systems (FCS) implement a mapping from real numbers to real numbers, through fuzzy interpretation of input and output. Reinforcement learning (RL) algorithms can be successfully applied to develop learning FCS analogously to what can be done with learning classifier systems (LCS). The author motivates this approach and presents a methodology to extend straightforwardly reinforcement distribution algorithms originally designed for crisp input and output to fully exploit the features of FCS.
Various alternative aircraft inspection methods are first discussed and advantages of using robots are analysed. ANDI (Automated NonDestructive Inspector) and CIMP (Crown Inspection Mobile Platform) are then described...
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Various alternative aircraft inspection methods are first discussed and advantages of using robots are analysed. ANDI (Automated NonDestructive Inspector) and CIMP (Crown Inspection Mobile Platform) are then described. Remote 3D stereoscopic visual inspection is outlined and algorithms developed for crack detection and surface and subsurface corrosion detection are described. Future development trends are also outlined.
Ultrasonic range sensors are used to obtain the information required for collision-free navigation of a mobile robot in a semi-structured or unstructured environment. A set of range readings from a ring of sonars are ...
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Advanced powerful tools are sought for in order to conduct power system studies, especially for large scale systems. In this paper, an efficient PC-based environment for power system studies is presented. It is based ...
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Advanced powerful tools are sought for in order to conduct power system studies, especially for large scale systems. In this paper, an efficient PC-based environment for power system studies is presented. It is based on both analytical and artificial intelligence techniques. To demonstrate its effectiveness, this environment has been used for restoration studies following a recent blackout in the Hellenic power system, with very promising results.
Extends the kinematic manipulability concept commonly used for serial manipulators to general constrained rigid multibody systems. Examples of such systems include multiple cooperating manipulators, multiple fingers h...
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Extends the kinematic manipulability concept commonly used for serial manipulators to general constrained rigid multibody systems. Examples of such systems include multiple cooperating manipulators, multiple fingers holding a payload, multi-leg walking robots, and variable geometry trusses. Explicit formulas for velocity and force manipulability ellipsoids are derived and their duality explained. The concept of unstable grasp and manipulable grasp are also extended and illustrated with examples.
This article presents and compares two neural network-based approaches to global self-localization (GSL) for autonomous mobile robots using: (1) a Kohonen neural network, and (2) a region-feature neural network (RFNN)...
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