检索结果-内蒙古大学图书馆

IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)

作者： T. Yamada K. Watanabe K. Kiguchi K. Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Honjomachi Saga Japan

We have focused on rings that are one event of men's apparatus gymnastics. The ring exercises have the characteristics that the apparatus can move in all directions freely unlike horizontal bar exercises that have the constraint between hands and the horizontal bar. Realizing the robot that performs rings practically, we can expect a contribution to the coaching. Therefore we have already proposed the "rings gymnastic robot" that performs gripping the rings suspended by a rope. In this paper, our goal is to acquire an exercise skill represented by fuzzy control rules. A backward giant circle from handstand to handstand is selected as the exercise to simulate. The skill to realize the exercise is obtained by a genetic algorithm, in which an evaluation method using five subgroups with independent evaluation is introduced.

关键词： Fuzzy control Robots Motion control Genetic algorithms Motion analysis Biomechanics control engineering Mechanical engineering Performance evaluation Humans

来源：评论

学校读者我要写书评

暂无评论

Human direct teaching of industrial articulated robot arms based on force-free control

引用

Artificial Life and Robotics 2001年第1期5卷 26-32页

作者： Kushida, Daisuke Nakamura, Masatoshi Goto, Satoru Kyura, Nobuhiro Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Department of Electrical Engineering Kinki University in Kyushu Iizuka Japan

Force-free control produces motion in a robot arm as if it were under conditions with no gravity and no friction. In this study, a method of force-free control is proposed for industrial articulated robot arms. The force-free control proposed was applied to the direct teaching of industrial articulated robot arms in that the robot arm was moved by direct human force. Generally, the teaching of industrial articulated robot arms is carried out using operational equipment called a teach-pendant. Smooth teaching can be achieved if direct teaching is applicable. The force-free control proposed enables humans to teach industrial articulated robot arms directly. The effectiveness of force-free control was confirmed by experimental work on an articulated robot arm with two degrees of freedom.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Precise, jerk-free contouring of industrial robot arms with trajectory allowance under torque and velocity constraints

Precise, jerk-free contouring of industrial robot arms with ...

引用

Annual Conference of Industrial Electronics Society

作者： S.R. Munasinghe M. Nakamura T. Iwanaga S. Goto N. Kyura Department of Advanced Systems Control Engineering Saga University Saga Japan

This paper addresses the contouring problem of articulated industrial robot arms, and proposes a practical solution to realize precise, jerk-free servoing. The proposed solution is an off-line trajectory construction algorithm that addresses the relevant industrial constraints and specifications namely, the velocity constraint, torque/acceleration constraint and trajectory allowance. Spline approximation is used to eliminate jerking. A forward compensator is used to compensate for delay dynamics. The proposed method was implemented experimentally on a Performer Mk-3s industrial robot arm, and improved performances were demonstrated.

关键词： Defense industry Service robots Manipulators Torque Servomechanisms Electrical equipment industry Acceleration Spline Orbital robotics control engineering

来源：评论

学校读者我要写书评

暂无评论

An Upper Drive-Active Dual-Wheel Caster Assembly and its Application for Constructing Holonomic and Omnidirectional Platform

引用

IFAC Proceedings Volumes 2001年第19期34卷 405-410页

作者： Xin Yang Keigo Watanabe Kiyotaka Izumi Kazuo Kiguchi Faculty of Engineering Systems and Technology Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502. Japan.

A new mechanical upper-drive active dual-wheel caster assembly is developed and two types of holonomie and omnidirectional mobile robots which utilize this caster assembly are discussed in this paper. The new active caster assembly is equipped with two standard tires as its driving wheels. Two motors are mounted on the upper frame to drive each wheel independently through a series of gears and a belt. In this structure, the lower frame can steer arbitrary angles referred to the upper frame without any wiring problem, which inhibits practical application of the previous normal active dual-wheel caster assembly. The new active caster assembly is used to construct two types of holonomie and omnidirectional mobile robots. One is a conventional structure, and the other is a synchro-drive system. The kinematic models of the new active caster assembly and two types of mobile robots are derived and the characteristics of these two holonomic and omnidirectional mobile robots are illustrated by computer simulations using resolved velocity control.

关键词： Holonomie and omnidirectional mobile robot Active dual wheel caster assembly Synchro-drive system. Kinematic model Resolved velocity control

来源：评论

学校读者我要写书评

暂无评论

High-precision contour control of industrial robot arm by neural network compensation with learning uncertainties

High-precision contour control of industrial robot arm by ne...

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： Tao Zhang M. Nakamura N. Kyura Department of Advanced Systems Control Engineering Saga University JAPAN Department of Electrical Engineering Kinki University (in Kyushu) Kyushu JAPAN

ISBN: (纸本)0780370902

Uncertainties are the main reasons of deterioration of contour control of industrial articulated robot arms. In this paper, a high-precision contour control method was proposed to overcome some main uncertainties, such as system delay dynamics, interference between robot links, friction, and so on. Firstly each considered factor of uncertainty was introduced briefly. Then according to the model of an industrial articulated robot arm, the construction of a Gaussian neural network controller, with consideration of system delay dynamics, interference between robot links and friction, was explained in detail. Finally, through experiments and simulation, the effectiveness of the proposed method was verified. Furthermore, based on the results, it was shown that the Gaussian neural network controller can be also adapted for the various kinds of frictions and high-speed motion of an industrial articulated robot arm.

关键词： Robot control Industrial control Service robots Defense industry Electrical equipment industry Uncertainty Friction Delay systems Interference Neural networks

来源：评论

学校读者我要写书评

暂无评论

Precise control of industrial robot arms considering trajectory allowance under torque and speed constraints

Precise control of industrial robot arms considering traject...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： S.R. Munasinghe M. Nakamura S. Goto N. Kyura Department of Advanced Systems Control Engineering Saga University Honjomachi Saga Japan Department of Electrical Engineering Kinki University Japan

ISBN: (纸本)0780365763

Presents a control algorithm for industrial robot arms. This algorithm is based on off-line trajectory generation with compensation of statics and dynamics. Using the proposed method, the Performer MK-3s industrial robot arm was controlled and improved performance has been realized. The proposed algorithm appears as a feedforward, off-line block in the robot arm control system. Therefore, it could be conveniently incorporated with the industrial robot arms without significant hardware alterations.

关键词： Torque control Robot control Defense industry Industrial control Service robots Manipulators Electrical equipment industry Servomechanisms control systems Hardware

来源：评论

学校读者我要写书评

暂无评论

Flexible motion realized by force free control: pull-out-work by articulated robot arm

Flexible motion realized by force free control: pull-out-wor...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： D. Kushida M. Nakamura S. Goto N. Kyura Department of Advanced Systems Control Engineering Saga University Honjomachi Japan Department of Electrical Engineering Kinki University Iizuka Japan

ISBN: (纸本)0780365763

Flexible motion of an industrial articulated robot arm, i.e., the passive motion of the robot arm for an external force, is realized by the proposed method of force-free control. The force-free control enables the motion of an industrial articulated robot arm as if it were in a circumstance of non-gravity and non-friction condition. The effectiveness of the force-free control was assured by applying the approach to a pull-out-work with a two degree-of-freedom articulated robot arm.

关键词： Force control Motion control Service robots Industrial control Defense industry Manipulators Servomechanisms Robot sensing systems Welding Force sensors

来源：评论

学校读者我要写书评

暂无评论

A novel modular neuro-fuzzy controller driven by natural language commands

A novel modular neuro-fuzzy controller driven by natural lan...

引用

SICE Annual Conference

作者： K. Pulasinghe K. Watanabe K. Kiguchi K. Izumi Faculty of Engineering Systems and Technology Graduate School of Science and Engineering Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Honjomachi Saga Japan

A method of interpreting imprecise natural language commands to machine understandable manner is presented in this paper. The proposed method tries to ease the process of man-machine interaction by combining the theoretical understanding of artificial neural networks and fuzzy logic. Both fields are very popular to mimic the human behavior in different research areas in artificial intelligence. The proposed system tries to understand the natural language command rather than mere recognition. The distinctive features of the artificial neural networks in pattern recognition and classification and the abilities of manipulating imprecise data by fuzzy systems are merged to recognize the machine sensitive words in the natural language command and then to interpret them to machine in machine identifiable manner. Modularity of the design tries to break up the complete task into manageable parts where the presence of individual part is vital to bridge the so-called man-machine gap.

关键词： Natural languages Artificial neural networks Man machine systems Fuzzy systems Fuzzy control Humans Pattern recognition control systems Natural language processing Machine control

来源：评论

学校读者我要写书评

暂无评论

Resolved velocity controller with an online RBF-NN compensator for controlling a dynamic binocular active vision head

Resolved velocity controller with an online RBF-NN compensat...

引用

SICE Annual Conference

作者： S. Kumarawadu K. Watanabe K. Kiguchi K. Izumi Faculty of Engineering Systems and Technology Graduate School of Science and Engineering Saga University Saga Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

We present an active binocular tracking scheme, which addresses both the kinematic and dynamic aspects. External reference signals to a servo controller are computed online by the use of a suitable linear kinematics model of the system. The servo controller bestowed with an online RBF-NN compensator is capable of handling the tracking problem with a minimum knowledge of the dynamics of the system.

关键词： Velocity control Head control systems Cameras Servomechanisms Target tracking Robot kinematics Orbital robotics Neural networks systems engineering and theory

来源：评论

学校读者我要写书评

暂无评论

Skillful adaptation of a 7-DOF manipulator to avoid moving obstacles in a teleoperated force control task

Skillful adaptation of a 7-DOF manipulator to avoid moving o...

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： D.P.T. Nanayakkara K. Kiguchi T. Murakami K. Watanabe K. Izumi Faculty of Engineering Systems and Technology Graduate School of Science and Engineering Saga University Saga Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

ISBN: (纸本)0780370902

This paper presents a method to exploit the redundancy of an industrial manipulator with 7 degrees of freedom (DOF), called PA-10 to adapt its configuration to avoid moving obstacles in a teleoperated force control task. This self adaptive skill on the slave manipulator side is very important, because teleoperation is often performed in dangerous or partially unknown environments, where unexpected changes such as moving obstacles can well be expected. In such situations, the control ability of the master side is very limited due to the practical limitations of vision sensors to capture a comprehensive view of the environment and the limitations of the master side degrees of freedom. The proposed method relies on two modules of an intelligent controller on the slave side. The first is an on-line fuzzy neural network (FNN) for intelligent force control, and the second is a configuration controller optimized using an evolutionary algorithm that works in harmony with the first to exploit redundancy to react to avoid moving obstacles, without inhibiting the progress of the former. The second controller generates joint velocity commands in the null space of the hand Jacobian, so that its activation does not affect the force controller. Here we show that the proposed method can skillfully avoid a moving obstacle without stopping the force control task. This skillful adaptation ability can significantly improve the efficiency and safety of teleoperated force control tasks with less burden on the master side. The paper presents some promising experimental results to demonstrate the effectiveness of the proposed method.

关键词： Force control Intelligent sensors Fuzzy neural networks Fuzzy control Velocity control Industrial control Intelligent control Intelligent networks Evolutionary computation Null space

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：