Inter-robot relative positions are crucial for executing various multirobot missions, such as formation maneuvering and collaborative inspection. However, the current sensing technology usually provides part of relati...
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This paper describes a solution for the general problem of handling a multiple-bent profile of sheet metal in the constrained environment of a bending machine. The handling device is a robot feeding the machine and ha...
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This paper describes a solution for the general problem of handling a multiple-bent profile of sheet metal in the constrained environment of a bending machine. The handling device is a robot feeding the machine and handling the sheet metal in between the bending operations. A new planning approach for a multiple-bent profile handling which is based on the configuration space and a potential function is presented. Special heuristics for the multiple-bent profile are applied and accelerate the motion planning process by recognition of the critical part of the profile and its orientation and position relative to the bending machine. This approach assists the sheet metal part planner to plan in advance the handling operations and to confirm if the robot can perform the handling or not. Two examples of handling multiple-bent profiles inside a bending machine are described and demonstrate the overall approach by a simulation.
This paper deals with the development and application possibilities of a 2D thermovision sensing system based on infrared non-cooled detector and advanced HW/SW signal processing technology. The design and results fro...
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ISBN:
(纸本)0819426326
This paper deals with the development and application possibilities of a 2D thermovision sensing system based on infrared non-cooled detector and advanced HW/SW signal processing technology. The design and results from preliminary experiments are briefly described.
In this article we introduce our approach to exploit multiscale wavelet methods for texture defect detection. Several wavelet bases and decomposition algorithms are examined in regard of applicability, parameterizatio...
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In this article we introduce our approach to exploit multiscale wavelet methods for texture defect detection. Several wavelet bases and decomposition algorithms are examined in regard of applicability, parameterization and computational costs. The article points out specific problems in localizing texture defects in multiscale wavelet representations. Besides the fast dyadic wavelet transform we demonstrate the application of the translation invariant a trous algorithm on texture samples. Feature extraction methods are proposed and examples of successful defect classification results are shown.
In recent years,an innovative underactuated robot was developed,named as underactuated cable-driven trusslike manipulator(UCTM),to be suitable in aerospace ***,there has been strong consensus that the stabilization of...
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In recent years,an innovative underactuated robot was developed,named as underactuated cable-driven trusslike manipulator(UCTM),to be suitable in aerospace ***,there has been strong consensus that the stabilization of planar underactuated manipulators without gravity is a great challenge since the system includes a second order nonholonomic constraint and most classical control methods are not suitable for this kind of ***,the complexity of the truss-like structure results in tremendous difficulty of computational complicacy and high nonlinearity during dynamic modelling in addition to controller *** is paramount to solve these difficulties for UCTM's future *** solve the above difficulties,this paper presents a dynamic modelling method for UCTM and a trajectory tracking control method based on partial feedback linearization(PFL)that fulfills the control goal of moving UCTM from its original position to a desired position by tracking a given trajectory of the joint *** achieve this,a model equivalent method is proposed to make UCTM equivalent with a three-link manipulator in the sense of dynamic *** the Lagrangian equation combined with complex vector method is proposed in the dynamic modelling process of UCTM,which simplifies the derivation *** on the established dynamic model,a coordinate transformation method is proposed to transform the control force matrix into the conventional form of an underactuated system,so that the control force can be separated from the unactuated *** PFL method in combination with the LQR control method is then proposed to realize the targets that the joint angles can track given desired *** experiments are conducted to verify the correctness and effectiveness of the proposed methods.
In this article a new concept for real time analysis of images based on the vectorized contours is presented. Given the polygone approximation of contours the geometric moments can be formulated for line contours. The...
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This work presents an associative datafield structure that has been developed for automotive control applications by the institute of controlengineering, Department of controlsystems theory and robotics at the Techn...
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This work presents an associative datafield structure that has been developed for automotive control applications by the institute of controlengineering, Department of controlsystems theory and robotics at the Technical University of Darmstadt and the Robert Bosch GmbH. In contrast to the state-of-the-art lattice-like datafields, the new system permits the modelling of multidimensional nonlinear process and/or controller characteristics with respect to computational performance and storage capacity provided by automotive control units. Furthermore, the associative datafield allows the compensation of wear and tear and manufacturing tolerances by learning, i.e. online adaptation of its contents. The paper describes the principles of the associative datafield and different update algorithms. Results of simulations using realistic data from car engines are discussed.< >
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