检索结果-内蒙古大学图书馆

Joint Positions and Robot Stability of the Omnidirectional Crawling Quadruped Robot

Journal of Robotics and Mechatronics 1999年第6期11卷 510-517页

作者： Chen, Xuedong Watanabe, Keigo Izumi, Kiyotaka Faculty of Engineering Systems and Technology Graduate School of Science and Engineering Saga University 1 Honjomachi Saga840-8502 Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1 Honjomachi Saga840-8502 Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University 1 Honjomachi Saga840-8502 Japan

Determination of joint positions, judgment of robot stability, and selection of the consequential swing leg are keys to crawling control for quadruped robots. We derive an efficient way to obtain actuation variables of joint positions to satisfy the gait for quadruped robots. By defining the statically stable area for foot placement, a new approach on analysis of robot stability is presented. Unlike conventionally, we avoid solving complicated direct robot kinematics as an overall kinematic chain and simultaneously show information on robot stability and the stable range of foot placement. Effectiveness is shown in practical crawling experiments. © 1999, Fuji Technology Press. All rights reserved.

关键词： Stability

来源：评论

学校读者我要写书评

暂无评论

Study on the control algorithm of the translational crawl for a quadruped robot

Study on the control algorithm of the translational crawl fo...

引用

IEEE International Conference on systems, Man and Cybernetics

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

The concept called the translational crawl of the quadruped robot is defined, a periodic gait of the translational crawl is described for the TITAN-VIII robot in a known environment. According to its simplified kinematic process, the robot can implement omnidirectional walking in a known environment by real-time control of the gait. The control algorithm of the gait is presented in detail. The effectiveness of the proposed approach is illustrated by giving simulation results.

关键词： Legged locomotion Leg Kinematics Mobile robots Robot vision systems Robot control systems engineering and theory control engineering Mechanical engineering Polynomials

来源：评论

学校读者我要写书评

暂无评论

Coordinative control of Different Kind of Manipulators Using an Incremental Fuzzy Compensator

引用

IFAC Proceedings Volumes 1999年第2期32卷 6511-6516页

作者： Kiyotaka Izumi Keigo Watanabe Manabu Misumi Department of Mechanical Engineering Faculty of Science and Engineering 1-Honjomachi Saga 840-8502 Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan Tel: +81-952-28-8602 Fax: +81-952-28-8587

A coordinative motion control is described for two different kind of manipulators by using a master-slave concept. Here, the master part consists of a pantagraph-type two link manipulator driven by a torque command, whereas the slave part is an industrial manipulator driven by a position command with a force torque sensor. To achieve a desired contact force between the slave manipulator and an object, a compensative position command is generated by using an incremental fuzzy reasoning with the force sensor information. The effectiveness is verified by experiments.

关键词： Co-operative control Master-slave systems Force control Position control Fuzzy control Industrial robots

来源：评论

学校读者我要写书评

暂无评论

Path planning for an omnidirectional mobile manipulator by evolutionary computation

Path planning for an omnidirectional mobile manipulator by e...

引用

International Conference on Knowledge-Based Intelligent Information engineering systems (KES)

作者： K. Watanabe K. Kiguchi K. Izumi Y. Kunitake Department of Advanced Systems Control Engineering Graduate School of Scienceand Engineering Saga University Saga Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Saga Japan Honda Motor Company Limited Tokyo Japan

We describe a method for the path planning of an omnidirectional mobile manipulator by applying an evolutionary strategy. For a path using a B-spline, it is important how to choose some appropriate data points and the corresponding end points. The proposed approach automatically selects their points in a wide range, minimizing or maximizing the total cost function, which consists of several sub-cost functions such as motion smoothness, movable range of joint, singular orientation and falling down. The simulation result shows that our method is effective for the path planning of a robot, which has many boundary conditions and complicated evaluation such as the mobile manipulator considered.

关键词： Path planning Mobile computing Evolutionary computation Manipulators Spline Cost function Robotics and automation Mobile robots Wheels Assembly

来源：评论

学校读者我要写书评

暂无评论

An experiment on profiling task with impedance controlled manipulator using cutter location data

An experiment on profiling task with impedance controlled ma...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： F. Nagata K. Watanabe K. Izumi Fukuoka Industrial Technology Center Interior Design Research Institute Fukuoka Japan Department of Advanced Systems Control Engineering Japan Department of Mechanical Engineering Saga University Saga Japan

We describe how to easily apply an impedance controlled robot to a profiling task along a curved object and to improve the performance using a position compensator based on the cutter location (CL) data. The CL data generated by the CAD/CAM system have information of points along the curved surface and their normal vectors. If the object is manufactured with a multi-axis numerical control (NC) machine tool, the CL data can be used as not only desired trajectory in the direction of position control but also feedforward information in the direction of force control. This technique allows us to generate the desired trajectory without teaching and to improve the performance for profiling control. Some control experiments are shown to demonstrate the effectiveness of the proposed method.

关键词： Impedance Force control Position control Service robots Manipulators Industrial control Education Force feedback Robot control Educational robots

来源：评论

学校读者我要写书评

暂无评论

Design of fault tolerant train navigation systems

Design of fault tolerant train navigation systems

引用

American control Conference (ACC)

作者： A. Mirabadi N. Mort F. Schmid Department of Automatic Control & Systems Engineering University of Sheffield Sheffield UK Advanced Railway Research Centre University of Sheffield Sheffield UK

We explore the integration of different sensor data in a multifilter, multisensor architecture for an onboard train navigation system. GPS, Doppler radar, track-based balises (or beacons) and gyros are the sensors used. The performance of stand-alone sensors is compared with their integration in pairs when a train is simulated over a track trajectory. Improvements in position fixing accuracy are highlighted and further benefits in recalibration of on-board systems are suggested when use is made of fixed balises.

关键词： Fault tolerant systems Navigation Sensor systems Filters Global Positioning System Costs Sensor fusion Doppler radar Radar tracking Rail transportation

来源：评论

学校读者我要写书评

暂无评论

Signal separation of background EEG and spike by using morphological filter

引用

IFAC Proceedings Volumes 1999年第2期32卷 4301-4306页

作者： Shigeto Nishida Masatoshi Nakamura Akio Ikeda Hiroshi Shibasaki Department of Computer and Communication Engineering Fukuoka Institute of Technology Fukuoka 811-0295 Japan Department of Advanced Systems Control Engineering Saga University Saga 840-8502 Japan Department of Brain Pathophysiology Kyoto University Faculty of Medicine Kyoto 606-8507 Japan

A signal separation method for extracting background electroencephalogram (EEG) from EEG containing spikes was proposed. Morphological filters were designed for extracting spike waveforms, and then the background EEG was obtained by subtracting the detected spike waveforms from the EEG with spike . The proposed method was evaluated by using simulated EEG data, which consisted of a summation of EEG without spike and model waveform of typical spike. The background EEG separated by the method was processed by the automatic background EEG interpretation.

关键词： Signal separation Background EEG Spike Morphological filter Automatic EEG interpretation

来源：评论

学校读者我要写书评

暂无评论

Position-based impedance control using a fuzzy compensator

Position-based impedance control using a fuzzy compensator

引用

International Conference on Knowledge-Based Intelligent Information engineering systems (KES)

作者： F. Nagata K. Watanabe K. Izumi Fukuoka Industrial Technology Center Interior Design Research Institute Fukuoka Japan 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

A position based impedance control with a fuzzy compensator is proposed to improve a force control performance, in which the environment has unknown dynamics or curved surface. The main attraction of the fuzzy compensator is that it generates proper position compensation as feedforward command so that overshoots and oscillations in the direction of force control can be suppressed satisfactorily. Profiling control simulations using the dynamics of the PUMA560 manipulator are shown to demonstrate the effectiveness and promise of the fuzzy compensator under the environment having unknown dynamic characteristics.

关键词： Fuzzy control Force control Industrial control Manipulator dynamics control systems Surface impedance Service robots Electrical equipment industry Electronic mail Design engineering

来源：评论

学校读者我要写书评

暂无评论

Automatic detection of eye state for background EEG interpretation

引用

IFAC Proceedings Volumes 1999年第2期32卷 4307-4312页

作者： Ou Bai Masatoshi Nakamura Akio Ikeda Hiroshi Shibasaki Department of Advanced Systems Control Graduate School of Science and Engineering Saga University Honjomachi Saga 840-8502 Japan Department of Brain Pathophysiology Faculty of Medicine Kyoto University Kyoto 606-8501 Japan

Automatic detection of open and closed eye state in EEG (electroencephalographic) record was investigated for one of the purposes of precise interpretation of background EEG. This research provided an effective detection method of eye open and closure by using sinusoidal wave with Markov process amplitude and a new trigger detection technique. The proposed method brought a satisfactory result that coincided with that of visual inspection done by a qualified EEGer (electroencephalographer), and could be applicable in the clinical use as a preprocessing method for an automatic EEG interpretation.

关键词： Automatic detection Markov models Threshold selection Hypothetical test Trigger method

来源：评论

学校读者我要写书评

暂无评论

Two-stage adaptation of a position/force robot controller application of soft computing techniques

Two-stage adaptation of a position/force robot controller ap...

引用

International Conference on Knowledge-Based Intelligent Information engineering systems (KES)

作者： L. Kiguchi K. Watanabe K. Izumi T. Fukuda Department of Advance Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Department of Mechanical Engineering Saga University Saga Japan Center for Cooperative Research in Advanced Science and Tech University of Nagoya Nagoya Japan

Friction of each joint of a robot manipulator has to be effectively compensated for in order to realize precise position/force control of robot manipulators. Recently, soft computing techniques (fuzzy reasoning, neural networks, and genetic algorithms) have played an important role in the control of robots. By applying soft computing techniques, learning/adaptation ability and human knowledge can be incorporated into a robot controller. In this paper, we propose a two-stage adaptive robot manipulator position/force control method in which uncertain/unknown dynamics of the environment are compensated for in the task space and joint friction is effectively compensated for in the joint space using soft computing techniques. The effectiveness of the proposed control method was evaluated by experiments.

关键词： Force control Robot control Orbital robotics Friction Manipulator dynamics Computer networks Fuzzy reasoning Neural networks Genetic algorithms 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：