检索结果-内蒙古大学图书馆

IEEE International Conference on Systems, Man and Cybernetics

作者： P.P. Groumpos Laboratory of Automation & Robotics. Department of Electrical Engineering University of Patras Rion Greece

The structural properties of a class of large-scale multilevel hierarchical systems are investigated. The design of a controller structure which preserves the structure of the system is presented. The proposed partial... 详细信息

关键词： Hierarchical systems Control systems Large-scale systems Distributed control Controllability Observability Regulators State feedback robotics and automation Communication system control

来源：评论

学校读者我要写书评

暂无评论

Knowledge based simulation in systems analysis and design

Knowledge based simulation in systems analysis and design

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： N.T. Koussoulas S. Daskalaki Laboratory of Automation and Robotics Electrical Engineering Department University of Patras Rio-Patras Greece

Simulation is an indispensable tool for system analysis and design. However, simulation techniques reach quickly their limits or may lose their efficiency when applied to complex systems such as large flexible manufacturing systems or enterprise models. The use of knowledge based technology can enhance the capabilities of simulation by organizing and even eliciting information. Thus enhanced simulators may very well become the primary aid to decision making and planning for large complex systems.< >

关键词： Analytical models System analysis and design Databases robotics and automation Production facilities Space technology Laboratories Design automation Flexible manufacturing systems Organizing

来源：评论

学校读者我要写书评

暂无评论

Experimental Demonstration of the Grasp Admittance Center Concept

Experimental Demonstration of the Grasp Admittance Center Co...

引用

American Control Conference (ACC)

作者： A. A. Goldenberg K. B. Shimoga Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto ONT Canada

This paper demonstrates a new approach to achieving decoupled dynamic behavior in multifingered robotic hands. The approach is based on a new concept termed the Grasp Admittance Center. This concept is a generalized version of the Compliance Center concept, well known within the robotics literature for over a decade. The proposed admittance center concept provides a framework for simultaneously achieving four useful features in robotic grasps 2 : (i) decoupled 3 force-motion relationship - a relationship between a motion imposed on the object and the reaction force that the object exerts to resist the motion; (ii) decoupled time-response - the motion response of the system to a force disturbance; and (iii) stability - the ability of the grasp to be in equilibrium despite disturbances. (iv) the task of assigning grasp dynamic behavior becomes transparent. These four features play important roles in the functioning of robotic hands, particularly when engaged in constrained manipulation tasks. Achieving these features in robotic grasps requires that the grasp impedance parameters 4 satisfy certain analytical conditions. These conditions are collectively referred to in this work as the admittance center concept. Of the four advantages, conceptualizing the decoupled time response is difficult while the remaining 3 advantages are easily comprehendable. In view of this, the present work describes experiments wherein a carefully built passive compliant device emulates the dynamic behavior of multifingered grasps.

关键词： Admittance Impedance Damping Fingers robotics and automation Robot kinematics Frequency Mobile robots Iron US department of Transportation

来源：评论

学校读者我要写书评

暂无评论

AN ADAPTIVE APPROACH TO MOTION AND FORCE CONTROL OF MULTIPLE COORDINATED ROBOTS

引用

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME 1993年第1期115卷 60-69页

作者： HU, YR GOLDENBERG, AA Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto Ontario Canada M5S 1A4

In this paper an approach to motion and force control of multiple coordinated robots, based on an adaptive scheme, is developed. The approach can be used to control the motion of an object held by the robots, the contact force between the object and the environment, and the internal forces which do not contribute to the object motion and contact force. Three subsystem error equations are generated, i.e., position error subsystem, contact force error subsystem, and internal force error subsystem. The adaptive law is derived to estimate the unknown parameters of the multiple coordinated robots, the object, and the environment in terms of the three error subsystem equations. The convergence of the position, contact, internal force errors, and parameter errors is analyzed based on the Lyapunov stability theory. The paper shows that the adaptive control scheme improves the position, and the internal and contact force tracking accuracy for a class of robotic systems with uncertain knowledge of the dynamic model.

关键词： Errors Stability robotics Adaptive control Force control Dynamic models Robots

来源：评论

学校读者我要写书评

暂无评论

An Expert System for Diagnosis in Assembly Cells

引用

IFAC Proceedings Volumes 1993年第2期26卷 871-874页

作者： M. Beneder R. Probst P. Kopacek Institute of Robotics University of Technology Vienna Austria Department of Systems Engineering and Automation Scientific Academy of Lower Austria Krems Austria

A system for diagnosis of errors in a robotized assembly-cell was provided in addition to the control programme of the plant. The system allows less skilled personnel to set accurate actions in order to solve errors. In addition to the assistance of supervising persons in solving plant errors, this knowledge based system can be applied for tutoring workers by simulation of various conditions of the assembly plant. The knowledge base is completed and maintained by the person who looks after the plant. It is possible to adapt the diagnostic routine to extensions in the assembly cell.

关键词： Error analysis failure detection expert systems artificial intelligence flexible manufacturing control systems simulation

来源：评论

学校读者我要写书评

暂无评论

Minimum-weight robot arm for a specified fundamental frequency

Minimum-weight robot arm for a specified fundamental frequen...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： F.-Y. Wang J.L. Russell Robotics and Automation Laboratory Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA

The problem of designing a minimum-weight one-link flexible manipulator for a given fundamental vibration frequency is investigated. The optimum design problem is investigated. The optimum design problem is formulated by using the variational method. Iteration schemes are developed for solving the nonlinear Euler equations derived from variational calculus in various situations. Numerical analysis shows that the weight of a flexible manipulator can be reduced significantly through the optimal distribution of mass and stiffness.< >

关键词： Frequency Structural beams robotics and automation Service robots Laboratories Manipulators Nonlinear equations Calculus Numerical analysis Productivity

来源：评论

学校读者我要写书评

暂无评论

Design of the IRIS facility-a modular, reconfigurable and expandable robot test bed

Design of the IRIS facility-a modular, reconfigurable and ex...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： R. Hui N. Kircanski A. Goldenberg C. Zhou P. Kuzan J. Wiercienski D. Gershon P. Sinha Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Canada Technion-Israel Institute of Technology Israel

The integrated raster imaging system (IRIS) facility is a robot system to be used for experiments in grasping, manipulation and force control. The facility has two manipulators with four rotary joints each. Each manipulator can assume a multitude of configurations. Each joint is driven by DC brushless motors coupled with harmonic cup drives, and instrumented with position and torque sensors. A six-degrees-of-freedom (DOF) force/torque sensor is mounted at the tip link. The real-time controller of the IRIS facility is based on a nodal architecture. Each node is capable of controlling 8 joints at 1 kHz while executing over 1000-FP (floating point) operations per joint in each sampling method. The design of the IRIS facility and its functional capabilities are described. In addition, the rationale behind the major design decisions is given.< >

关键词： Iris Manipulators Torque Robot sensing systems Force control Brushless motors Couplings Instruments Force sensors Sampling methods

来源：评论

学校读者我要写书评

暂无评论

Indefinite Inner Product-Based Decomposition for Hybrid Control of Robot Manipulators

引用

IFAC Proceedings Volumes 1993年第2期26卷 445-448页

作者： P.R. Sinha A.A. Goldenberg Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto Ontario Canada M5S 1A4

This paper proposes a geometric approach to the problem of control of constrained tasks based on the fact that the space of motion screws of robotic systems are endowed with an indefinite inner product. This leads to a unique decomposition of the naturally arising motions and forces of a robot end effector into reciprocal screw subspaces of "freedom twists" and "constraint wrenches". A representative example is used to illustrate the generality of the decomposition to robot end effectors. The invariance of the decomposition as compared to the noninvariance of the prevalent hyhrid control method is discussed, aided by an illustrative example.

关键词： robotics hybrid control screw theory indefinite inner product

来源：评论

学校读者我要写书评

暂无评论

A Modular CIM-Concept for Small And Medium Sized Companies

引用

IFAC Proceedings Volumes 1993年第2期26卷 879-882页

作者： M. Zauner J. Hölzl P. Kopacek G. Kronreif Department of Systems Engineering and Automation Scientific Academy of Lower Austria Krems Austria Fronius Company Wels Austria Institute of Robotics University of Technology Vienna Austria

Modem software architecture concepts offer various possibilities for the forward-looking design of open and modular computer integrated manfacturing systems. Additional, the very flexible organisational structures of small and medium sized companies can be implemented considering restrictions that are caused by commercial and technical influences. Therefore a common, client/server based CIM-concept was developed. This concept faces the implementation of highly integrated CIM-modules als well as the support of existing software packages. Both, the usage of PC's as client-workstations additional to UNIX-data base servers and a layer-based, modular software concept follow the way of an easy enhancement of this CIM solution.

关键词： CIM-concepts CIM client/server architecture systems-engineering data base systems hierarchical intelligent control

来源：评论

学校读者我要写书评

暂无评论

The design and training of an intelligent sensor implementation

The design and training of an intelligent sensor implementat...

引用

Canadian Conference on Electrical and Computer engineering (CCECE)

作者： Xiangui Yu N.K. Loh G.A. Jullien W.C. Miller Department of Electrical Engineering University of Windsor Windsor ONT Canada Center for Robotics and Advanced Automation Dodge Hall of Engineering Oakland University Rochester MI USA

The design and VLSI implementation of an intelligent sensor that can be used for process control applications requiring image capture or non-contact measurement is presented in this paper. The sensor architecture is based on an analog VLSI realization of an artificial neural network with an integrated photosensitive array. A 10/spl times/10 array of photosensitive cells has been designed as the input nodes to a two-layer feedforward neural network. Four groups each with 25 photosensors are fully connected to 4 neurons respectively in the hidden layer. The 16 hidden neurons are fully connected to 5 neurons in the output layer. A development program has been written that determines the optimal set of weights using the modified backpropagation algorithm. The neural network has been trained to recognize 18 different types of patterns. The final implementation of this intelligent sensor has the dimensions of 4500/spl times/4820 design scale microns and contains approximately 1630 analog devices fabricated using a 3/spl mu/ single-polysilicon, double-metal, p-well CMOS process.< >

关键词： Intelligent sensors Sensor arrays Neurons Very large scale integration Artificial neural networks Neural networks Process control Feedforward neural networks Backpropagation algorithms Pattern recognition

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：