检索结果-内蒙古大学图书馆

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Lingfeng Deng W.J. Wilson F. Janabi-Sharifi Department of Electrical and Computer Engineering University of Waterloo Waterloo ONT Canada Robotics and Manufacturing Automation Laboratory Department of Mechanical Aerospace and Industrial Engineering Ryerson University Toronto ONT Canada

In this paper, the dynamic performance of position-based visual servoing methods in the Cartesian and image spaces are investigated. Two major classifications of the position-based method are analyzed. For motion control defined in the stationary desired end-effector frame, the shortest straight line Cartesian trajectory can be achieved, but the corresponding image trajectories are not controlled and may leave the camera field of view. For motion control defined in the moving current end-effector frame, the straight line Cartesian trajectory is not guaranteed, however, the im- age trajectories can be indirectly controlled in this method to move approximately along straight lines when the commanded orientation is small. Simulation results are given to compare the Cartesian and image trajectories of various implementations of the position-based method with those of the image-based and 2 1/2-D methods.

关键词： Visual servoing Cameras Motion control Aerodynamics Feedback Service robots Orbital robotics robotics and automation Manufacturing automation Laboratories

来源：评论

学校读者我要写书评

暂无评论

A centralized tele-teaching system for industrial robots using virtual reality

A centralized tele-teaching system for industrial robots usi...

引用

IEEE International Symposium on Computational Intelligence in robotics and automation (CIRA)

作者： Maoyuan Cui Zaili Dong Yantao Tian Department of Control Science & Engineering Jilin University Changchun China Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China

ISBN: (纸本)0780378660

Instead of teaching the robot at the work-site, a novel approach and framework for industrial robots teaching is presented to improve the safety and efficiency of the task. Centralized tele-teaching is the primary concept to achieve such goal. By using sensor and virtual reality (VR) techniques, the static global task information and the dynamic position and orientation local information on tool and workpiece during the teaching are integrated to the virtual environment (VE) where human operator can remotely monitor and intervene in the teaching process by means of an interactive device. To illustrate this, a prototype system for welding task teaching of industrial robot is developed. Preliminary results with the prototype system demonstrate the utility of the approach and framework.

关键词： Service robots Virtual reality Education Robot sensing systems Educational robots Prototypes Safety Virtual environment Humans Remote monitoring

来源：评论

学校读者我要写书评

暂无评论

Analysis of traveling wave locomotion of snake robot

Analysis of traveling wave locomotion of snake robot

引用

IEEE International Conference on robotics, Intelligent Systems and Signal Processing

作者： Li Chen Yuechao Wang Shugen Ma Bin Li Graduate School of Chinese Academy of Sciences China Robotics Laboratory Shenyang Institute of Automation Shenyang China Department of Systems Engineering Ibaraki University Hitachi Japan

ISBN: (纸本)078037925X

The mechanism of traveling wave locomotion of a snake robot was analyzed in the paper. Its kinematics model was founded and a modified control strategy was conducted in a reconfigurable snake robot. The results shows that in one period the locomotion can be divided into four phases according to the number of joints contacting with the supporting plane, and the resultant force of the friction forces on contacting joints generates locomotion. The modified control method can form smoother body curve and generate the accelerated or decelerated locomotion. Experimental results show that using traveling wave locomotion the robot is able to go forward and backward, and turn around, especially can move in a narrow site and some partial unstructured environments. The maximum linear velocity that can obtain is 0.04 m/s, the slope of the inclined plane that can be climbed is 20/spl deg/ on a carpet, the maximum wideness of gap that can be crossed is 0.14 m, and the minimum diameter of the pipe that can be gone through is 0.06 m.

关键词： Friction Mobile robots Wheels Shape Systems engineering and theory Acceleration Robustness Propulsion Tail

来源：评论

学校读者我要写书评

暂无评论

Mechatronical design of a telerobotic trolley for the TV transmission 7

Mechatronical design of a telerobotic trolley for the TV tra...

引用

7th IFAC Symposium on Robot Control, SYROCO 2003

作者： Romano, Vitor Ferreira Ferreira, Claudio Violante Ferreira, Cesar Gomes Federal University of Rio de Janeiro POLI/COPPE Mechanical Engineering Department-Robotics Laboratory Cidade Universitária CT Bloco G-204 Rio de Janeiro-RJ21945-970 Brazil MANET-Manufacturing Automation Network Italy COPPE/UFRJ Italy Digital Dinamica Automaeao Ltda. Italy

In this article the mechatronical implementations related to the developmem of a telerobotic trolley project are presented. The telerobotic system consists on a wheeled trolley that carries TV equipment and moves along a 300 meters binary linear track. A cameraperson sends command signals to an onboard microcontroller able to operate different acceleration ramps. A commercial FEM program modeled the trolley and its supporting structures, so that data related to the stresses generated at specific points could be obtained in order to validate the system safety and reliability. The telerobot was successfully operated during the two days of the TV transmission. Copyright © IFAC Robot Control, Wroclaw, Poland, 2003.

关键词： Finite element method

来源：评论

学校读者我要写书评

暂无评论

Evolution of the NASA/DARPA Robonaut control system

Evolution of the NASA/DARPA Robonaut control system

引用

IEEE International Conference on robotics and automation (ICRA)

作者： M.A. Diftler C.J. Culbert R.O. Ambrose R. Platt W.J. Bluethmann Automation and Robotics Department Houston USA Department of Computer Science University of Massachusetts Amherst MA USA Robotics Technology Branch NASA-Johnson Space Center Houston TX USA Johnson Space Center Hernandez Engineering Inc. Houston TX USA

The NASA/DARPA Robonaut system is evolving from a purely teleoperator controlled anthropomorphic robot towards a humanoid system with multiple control pathways. Robonaut is a human scale robot designed to approach the dexterity of a space suited astronaut. Under teleoperator control, Robonaut has been able to perform many high payoff tasks indicating that it could significantly reduce the maintenance workload for human's working in space. Throughout its development, Robonaut has been augmented to include new sensors and software resulting in increased skills that allow for more shared control with the teleoperator, and ever increasing levels of autonomy. These skills range from simple compliance control, and short term memory, to, most recently, reflexive grasping and haptic object identification using a custom tactile glove, and real-time visual object tracking.

关键词： NASA Control systems Teleoperators Orbital robotics Humans Robot control Anthropomorphism Humanoid robots Robot sensing systems Grasping

来源：评论

学校读者我要写书评

暂无评论

Solution to the general robust strictly positive real synthesis problem for polynomial segments

Solution to the general robust strictly positive real synthe...

引用

2003 European Control Conference, ECC 2003

作者： Yu, Wensheng Wang, Long Ackermann, Jürgen Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing100080 China Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing100871 China Robust Control Group Institute of Robotics and Mechatronics German Aerospace Center DLR-Oberpfaffenhofen Postfach 1116 WesslingD-82230 Germany

For any two n-th order polynomials a(s) and b(s), the Hurwitz stability of their convex combination is necessary and sufficient for the existence of a polynomial c(s) such that c(s)/a(s) and c(s)/b(s) are both strictl... 详细信息

ISBN: (纸本)9783952417379

关键词： Polynomials

来源：评论

学校读者我要写书评

暂无评论

A modular recurrent dynamic neural network for robust optimal control

引用

Control and Intelligent Systems 2003年第3期31卷 160-172页

作者： Karam, M. Zohdy, M.A. Abdel-Aty Zohdy, H.S. Department of Electrical Engineering Tuskegee University Tuskegee AL 36088 United States Ctr. for Robotics Adv. Automation Department of Electrical Engineering Oakland University Rochester MI 48309 United States Microelectron. Syst. Des. Laboratory Department of Electrical Engineering Oakland University Rochester MI 48309 United States

A modular recurrent dynamic neural network (RDNN) that has been used in previous research to solve uncertain linear and nonlinear signal representation problems is applied in this study to the optimal control of a simulated nonlinear slider inverted pendulum (SIP). The advantage of using neural networks is their robustness when dealing with uncertain and ill-conditioned problems. Effectively, when compared with LU decomposition in solving linear systems corrupted with noise, the RDNN solution was less sensitive to noise. Optimal control of the SIP is carried out using the analytical linear quadratic regulator (LQR) technique, where the control gains are derived from the solution of the algebraic Riccati equation (ARE) by computing the eigenvalues and eigenvectors of the Hamiltonian matrix H. In the case of noise in the control loop of the SIP, caused possibly by external disturbances or sensitive sensors, H becomes noise corrupted. This could lead to inaccurate LQR control gains when solving the problem with standard numerical methods. By transforming the problem into a set of linear systems of equations, and combining the RDNN with a steepest descent method, we propose a neural-based method to compute the LQR control gains, and we show the robustness of this method in the presence of noise. Furthermore, the stability of the overall LQR/RDNN neural controller is demonstrated. We then apply this neural control method to the SIP by designing two controllers about two different operating points. The performance of both neural controllers is successful in the vicinity regions of their respective operating points. The satisfactory results obtained show that the RDNN represents a fitting and useful tool in the robust optimal neural control of a SIP.

关键词： Neural networks

来源：评论

学校读者我要写书评

暂无评论

An adaptive velocity estimation approach for improved disk drive control performance

An adaptive velocity estimation approach for improved disk d...

引用

Annual Conference of Industrial Electronics Society

作者： F. Janabi-Sharifi A. Shademan Robotics and Manufacturing Automation Laboratory Department of Mechanical AeroSpace and Industrial Engineering Ryerson University Toronto Canada Signal and Image Processing Group School of Intelligent Systems IPM Niavaran Tehran Iran

For disk servo system design, it is desired to optimize data storage and transfer subject to the constraints imposed by the servomechanism including velocity estimation and control algorithm, disk space, the actuator, and other limiting factors. Therefore, positioning the head with high accuracy, speed, and reliability is of significant importance. Since velocity estimation is essential for many disk servomechanisms, the quality of head positioning will be governed by the accuracy, speed and reliability of the velocity estimation methods employed. In this paper, adaptive windowing techniques for discrete velocity estimation in disk drives are introduced. The methods are compared with conventional techniques such as finite difference method and Kalman filtering using the introduced measures. It is shown that the proposed techniques generate relatively accurate and reliable estimates with reduced time delays and lower amplitude distortions when compared with the previous methods. Finally, it is demonstrated that the proposed techniques improve the control performance of the disk servo systems.

关键词： Programmable control Adaptive control Disk drives Velocity control Servomechanisms Control systems Constraint optimization Design optimization Memory Actuators

来源：评论

学校读者我要写书评

暂无评论

Intelligent compensation of actuator nonlinearities

Intelligent compensation of actuator nonlinearities

引用

IEEE Conference on Decision and Control

作者： R.R. Selmic V.V. Phoha F.L. Lewis Department of Electrical Engineering and Institute for Micromanufactwing Louisiana Tech University Ruston LA USA Department of Computer Science Louisiana Tech University Ruston LA USA Department of Electrical Engineering and Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA

Inaccuracy of mechanical components and nature of physical laws make actuators nonlinear devices. Actuator nonlinearities can be static like friction, deadzone, saturation, and/or dynamic like backlash and hysteresis. In this paper, we present recent developments in four basic problems in actuator control-friction, deadzone, backlash, and saturation. We apply intelligent control techniques for compensation of those nonlinearities for a class of nonlinear systems. Static and dynamic compensators using neural networks are considered. Different control structures are developed for common actuator nonlinearities. We present tuning algorithms for those intelligent compensation techniques that guarantee small tracking error and bounded internal states. Simulation results show that the proposed compensation schemes are efficient way of improving the tracking performance of nonlinear systems with backlash.

关键词： Intelligent actuators Friction Aerodynamics Hysteresis Nonlinear systems Neural networks Control nonlinearities Neurofeedback Control systems robotics and automation

来源：评论

学校读者我要写书评

暂无评论

Behavior of Smith predictor in teleoperation systems with modeling and delay time errors

Behavior of Smith predictor in teleoperation systems with mo...

引用

IEEE Conference on Control Technology and Applications (CCTA)

作者： S. Ganjefar H. Momeni F. Janabi Sharifi M.T. Hamidi Beheshti Demnment of Electrical Engineering Tarbiat Moalem University Tehran Iran Robotics and Manofactunng Automation Laboratoty Dcpartnient of Mechanical Aerospace and industrial Engineerin Ryerson University Toronto Canada Department of Electrical Engineering Tarbiat Moalem University Tehran Iran

In this paper, behavior of teleoperation systems with modeling error and error of delay time in Smith predictor is discussed. In teleoperation systems usually there is a large distance between master system and slave system. In this case, there is always an error in modeling of system. The condition for stability of teleoperation systems with modeling error is derived by introducing a theorem. This theorem can assist a designer in ensuring the stability of the teleoperation system. Also, error of delay time and stability of teleoperation systems by using of Internet as communication channel are discussed. The effect of delay time prediction on the system stability and performance is studied and it is shown that delay time prediction could improve system performance. Simulation results are presented to verify the obtained results.

关键词： Predictive models Delay effects Stability Delay systems Transfer functions Communication channels Bandwidth Delay estimation Internet Humans

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：