检索结果-内蒙古大学图书馆

International Conference on Advanced robotics (ICAR)

作者： Wei Wang R.N.K. Loh M.H. Ang Center for Robotics and Advanced Automation School of Engineering Oakland University Rochester MI USA Department of Mechanical and Production Engineering National University of Singapore Singapore

The compliance of a robot is an important factor in many robotic tasks which require force in either measurement or control in addition to position control. The compliance of a robot is usually described by the compliance matrix at its end-effector. In this paper, we present a novel framework for computing the end-effector compliance from the compliance offered by the limbs of a serial robot. The new method is computationally more efficient but not less accurate than the existing finite element method. The computational efficiency of the method arises from the fact that external forces are experienced by the end-effector alone and that there are no other external forces applied to the internal limbs. As an approximation computation, this method is also applicable to robots with very flexible links.

关键词： Robots robotics and automation Finite element methods Force control Equations Automatic control Position control Stress Force measurement Capacitive sensors

来源：评论

学校读者我要写书评

暂无评论

Assemblability based on maximum likelihood configuration of tolerances

Assemblability based on maximum likelihood configuration of ...

引用

IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

An assembly is defined by a configuration of parts of known geometries subject to tolerances in the pose, dimensions, and mating relations among part features. Using a tolerance model based on matrix transforms and Gaussian models of geometric variations, the pose and dimensional tolerance models are considered as a priori models of the assembly with nominal and variational components for both position and orientation. The mating relations are regarded as linear relational constraints, also with nominal and variational components. With this formulation, estimation of the configuration of parts may be posed as a maximum likelihood problem and solved by a Kalman filter algorithm. The resulting maximum likelihood configuration of the assembly may be used to evaluate the required deviation from nominal and the assemblability as defined by the maximum likelihood clearance from constraints. In addition, application of the technique to intermediate subassemblies may be used to evaluate assemblability of specific steps and discriminate among alternative assembly sequence plans.

关键词： Maximum likelihood estimation Solid modeling Robotic assembly Uncertainty ANSI standards Manufacturing automation robotics and automation Computer aided manufacturing Information geometry Systems engineering and theory

来源：评论

学校读者我要写书评

暂无评论

Experimental studies on minimal representation multisensor fusion

Experimental studies on minimal representation multisensor f...

引用

International Conference on Advanced robotics (ICAR)

作者： R. Joshi A.C. Sanderson NYS Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

We describe laboratory experiments, in which tactile data obtained from the finger-tips of a robot hand, while it is holding an object in front of a calibrated camera, is fused with the vision data from the camera, to determine the object identity, pose, and the touch and vision data correspondences. The touch data is incomplete due to required hand configurations, while nearly half of the vision data are spurious due to the presence of the hand in the image. Using either sensor alone results in ambiguous or incorrect interpretations. A minimal representation size framework is used to formulate the multisensor fusion problem, and can automatically select the object class, correspondence (data subsamples), and pose parameters. The experiments demonstrate that it consistently finds the correct interpretation, and is a practical method for multisensor fusion and model selection.

关键词： Robot vision systems Context modeling robotics and automation Cameras Robot sensing systems Tactile sensors Manufacturing automation Computer aided manufacturing Laboratories Data mining

来源：评论

学校读者我要写书评

暂无评论

Introducing the theory of fuzzy cognitive maps in distributed systems

Introducing the theory of fuzzy cognitive maps in distribute...

引用

IEEE International Symposium on Intelligent Control (ISIC)

作者： C.D. Stylios V.C. Georgopoulos P.P. Groumpos Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rio Greece School of Electrical Engineering and Computer Science Ohio University Athens OH USA

This paper investigates a novel hybrid fuzzy neural system, fuzzy cognitive map (FCM), and its implementation in distributed systems and control problems. The description and the methodology of this system will be examined and then it will be shown the application of FCM in a process control problem, which will reveal the characteristics and qualities of FCM. There is an oncoming need for more autonomous and intelligent systems, which could be satisfied with the application of FCM in the field of systems and control.

关键词： Fuzzy cognitive maps Fuzzy systems Fuzzy logic Intelligent systems robotics and automation Fuzzy control Control systems Control system synthesis Neural networks Humans

来源：评论

学校读者我要写书评

暂无评论

Solving the find-path problem: a complete and less complex approach using the BIE methodology

Solving the find-path problem: a complete and less complex a...

引用

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

作者： I. Mantegh M.R.M. Jenkin A.A. Goldenberg Robotics and Automation Laboratory Department of Mechanical and Industrial Engineering University of Toronto Toronto ONT Canada Department of Computer Science York University North York ONT Canada

Although significant progress has been made in the area of robot motion planning, many issues still need to be addressed. These include the computational complexity of navigation algorithms, their adaptability to different environments, and their sensitivity to changes in the environment. By capitalizing on the known properties of harmonic potential functions, this work develops a new approach towards model-based path planning which is intuitive, complete (goal attainability is guaranteed), free from local traps (local minima) and computationally less complex than many existing methods. Extending the advantages of hill-climbing method, which have low space and time complexity, to a global (model-based) path planning algorithm marks one of the major contributions of this work. Furthermore, the algorithm presented here is able to handle arbitrary geometries and does not require a geometrical or topological approximation at the environment representation level.

关键词： Path planning Orbital robotics Navigation Motion planning Robot sensing systems Intelligent robots Collision avoidance Geometry robotics and automation Laboratories

来源：评论

学校读者我要写书评

暂无评论

A Polynomial Function Discovery System — FFS

引用

International Journal on Artificial Intelligence Tools 1997年第1期6卷 1-13页

作者： Spyros Tzafestas Zhifang Ma Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zografou 15773 Athens Greece On leave from the Department of Computer Science Jilin University Changchun P.R.China

This paper presents a function discovery system FFS that has two core parts: FFS-0-CORE and FFS-1-CORE. Both cores are with polynomial time complexity in discovering functions of either a•f(x)+b form or a 1 f 1 (x)+…+a n f n (x)+b form. FFS-0-CORE allows users to define their own models. FFS-1-CORE uses novel principles to increase information which helps the function discovery procedures. Three computational examples are included.

关键词： Formula discovery machine discovery machine learning artificial intelligence

来源：评论

学校读者我要写书评

暂无评论

Extrusion process control. II. Identification and open-loop control

Extrusion process control. II. Identification and open-loop ...

引用

American Control Conference (ACC)

作者： B. Tibbetts J. Wen New York State Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

For pt.I see ibid., p.3726-30. Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. In Part I, we developed a dynamical system model which could be used for real-time applications. In this paper, we use this model development plus output relationships from our previous model development work (1995, 1996) to develop parameter identification and open-loop control methodologies. An example with plant trial data is provided.

关键词： Process control Open loop systems Equations Temperature sensors Manufacturing automation robotics and automation Automatic control Computer aided manufacturing Manufacturing processes Parameter estimation

来源：评论

学校读者我要写书评

暂无评论

Deadzone compensation in motion control systems using adaptive fuzzy logic control

Deadzone compensation in motion control systems using adapti...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： K.T. Woo F.L. Lewis Li-Xin Wang Z.X. Li Department of Electrical and Electronic Engineering Hong Kong University of Science and Technology Hong Kong China Automation and Robotics Research Institute University of Texas Arlington USA

A deadzone compensator is designed for industrial positioning systems using a fuzzy logic (FL) controller. The classification property of FL systems makes them a natural candidate for the rejection of errors induced by the deadzone, which has regions in which it behaves differently. A tuning algorithm is given for the FL parameters, so that the deadzone compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded parameter estimates. The adaptive FL deadzone compensator is implemented on an actual industrial CNC machine tool to show its efficacy.

关键词： Motion control Adaptive systems Programmable control Adaptive control Fuzzy logic Electrical equipment industry Industrial control Control systems Parameter estimation Computer numerical control

来源：评论

学校读者我要写书评

暂无评论

Extrusion process control. I. Dynamical system model development

Extrusion process control. I. Dynamical system model develop...

引用

American Control Conference (ACC)

Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. A process model is required for control. The difficulties with currently available models are stated. An appropriate decomposition and associated assumptions are introduced, permitting construction a real-time process model via spectral approximation to solve the axi-symmetric, 2D transient heat conduction equation with heat generation and loss. This solution, simulation results, and model execution times are provided.

关键词： Process control Billets Manufacturing automation robotics and automation Shape Power system modeling Computer aided manufacturing Manufacturing processes Containers Inorganic materials

来源：评论

学校读者我要写书评

暂无评论

Synthesized passive feedback control of sensor-rich structures

Synthesized passive feedback control of sensor-rich structur...

引用

American Control Conference (ACC)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The passivity property of dissipative mechanical structures has long been exploited in designing passive controllers that provide robust stability even in the presence of unmodeled dynamics of the system. For an input/output map of a flexible structure to be passive, collocation of the actuators and sensors is required and also the sensors should measure the velocity of the system. The so-called smart structures frequently have more sensors than actuators. Therefore, the passive controller can at best utilize only a subset of the sensors. In this paper we consider the design of a squaring down matrix which would render a system passive subject to some additional performance considerations. The problem of obtaining the synthesized passive output is cast as a set of linear matrix inequalities (LMIs) which can be efficiently solved by the LMI Toolbox in Matlab. We apply this procedure with the assumption that the sensors provide both displacement and velocity information which is generally not true. We show that the passive controllers can be implemented without the use of velocity information. By using synthesized passive outputs in addition to naturally occurring passive outputs, we obtain better system performance. We present experimental results involving a single flexible beam with torque input and hub angular position and strain gage outputs.

关键词： Feedback control Intelligent sensors Control system synthesis Mechanical sensors Sensor systems Linear matrix inequalities Mechanical factors Control systems Robust stability Flexible structures

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：