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检索条件"机构=Dept. of Mechatronics and robotics Engineering"

共 145 条记录，以下是11-20 订阅

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Inverse kinematics of multi-link flexible robots for high speed applications

Inverse kinematics of multi-link flexible robots for high sp...

引用

2002 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Cheong, Joono Youm, Youngil Chung, Wan Kyun Robotics and Bio-Mechatronics Lab. Dept. of Mechanical Engineering POSTECH Pohang Korea Republic of

This paper proposes an improved differential inverse kinematics algorithm which works good for high speed motion control. The dynamic constraint as well as the kinematic constraint is utilized for the inverse kinematics. The singular perturbation method helps to reduce inverse kinematics to be solvable. The numerical and experimental results show the performance of the proposed method clearly.

关键词： Manipulators

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Design and Analysis of a Piezo-based Decoupled 3-DOF (XY?) Micropositioner with Large Workspace 26

Design and Analysis of a Piezo-based Decoupled 3-DOF (XY?) M...

引用

26th International Conference on Computer and Information Technology, ICCIT 2023

作者： Das, Tilok Kumar Shahrear, Rifat Shirinzadeh, Bijan Dept. of Mechanical Engineering Chattogram Bangladesh Monash University Robotics and Mechatronics Research Laboratory Dept. of Mechanical and Aerospace Engineering Melbourne Australia

ISBN: (纸本)9798350359015

This paper presents a piezo-based compliant planer 3-DOF micropositioning stage for decoupled large workspace of the platform. Three piezoelectric actuators inside three double-stairs bridge-type mechanisms were used to drive the output platform in XY? directions. A-3PPR type kinematic chain has been oriented parallelly in such a way to have a rotational symmetry about the centroid. Two different types of prismatic flexure joints with a passive rotary flexure joint were utilized in each kinematic chain. The proposed design focused on the redundancy of the cross-axis coupling effect from the other axes during directional movements. To evaluate the performance, Finite Element Analysis (FEA) has been conducted. The decoupled 3-DOF micropositioning stage is able to maintain the maximum parasitic motion of 0.05% and 1.95 % in the Y and ? directions of their respective directional working range. So, the effect of cross-coupling motion during directional movement can be presumed to be less in this case. Further, the FEA results show that the micropositioning stage has a large work envelope of ±271.1 µm × 235 µm × ± 6.0352 mrad. Moreover, the evaluation of the dynamic characteristics predicts that out-of-plane motion will be less likely to occur. Thus, the 3-DOF micropositioning stage can provide a unidirectional decoupled large range of motions. © 2023 IEEE.

关键词： Compliant mechanism Cross-coupling effect Decoupling Finite Element Analysis (FEA) Planer motion

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Fast suppression of vibration for multi-link flexible robots using parameter adaptive control

Fast suppression of vibration for multi-link flexible robots...

引用

2001 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Cheong, Joono Chung, Wan Kyun Youm, Youngil Robotics and Bio-Mechatronics Lab. Dept. of Mechanical Engineering POSTECH Pohang Korea Republic of

In this paper, a simple direct parameter update rule is presented to suppress the vibration more quickly, considering the dynamics of flexible subsystem. Different from most of adaptive control schemes in multilink flexible robots, which is a model-independent approach, the proposed adaptive control utilizes model parameters and updates them. Usually, the precise modeling of multi-link flexible robot is hard to obtain and even if we can get it, it is difficult to use in the online control tasks. Due to these reasons, a simplified model is used to describe the robot dynamics. The modelling errors and other structured uncertainty are considered as parameter perturbation. We verify the effectiveness of the proposed algorithm through experiments.

关键词： Flexible manipulators

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Design and Analysis of Knee Joint for Transfemoral Amputees

Design and Analysis of Knee Joint for Transfemoral Amputees

引用

2021 International Conference on Artificial Intelligence and mechatronics Systems, AIMS 2021

作者： Qadir, Muhammad Usman Khan, Muhammad Awais Hussain, Muzammal Ul Haq, Izhar Akhtar, Nizar Shah, Kmaran Advanced Robotics Automation Lab University of Engineering Technology Dept. of Mechatronics Engineering Peshawar Pakistan University of Engineering Technology Dept. of Mechatronics Engineering Peshawar Pakistan International Committee of Red Cross Sanaa Yemen

ISBN: (纸本)9781665424820

Lower limb amputation not only reduces mobility but also results in significant impairment in quality of life. Microprocessor based transfemoral knee joints have gained significant importance in the last decade to not only restore cosmetics but also provide functionality comparable to real limb. One of the key issues in such devices is selection of the suitable material for manufacturing of knee joint to minimize chances of failure under various loading conditions, while at the same time ensuring the weight of the knee is within acceptable limits. The purpose of this research is to design a microprocessor-based knee joint and perform various static structural analysis for different materials to optimize strength to weight ratio of the proposed design. Initially, a model for the proposed microprocessor-based knee was developed in SolidWorks followed by displacement study and computation of von-mises stresses in Ansys Workbench. Different materials used in the analysis include Plain Carbon Steel, Stainless Steel 304, Aluminum 6061. Based on the results Aluminum 6061 was identified as a suitable material for manufacturing knee joint as it not only reduces weight of the knee joint but also the deformation and stress values are within acceptable limits. The minimum and maximum Von Mises stress of Aluminum 6061 was 559.9 Pa and 71.37 MPa respectively with tensile strength of 313 MPa. © 2021 IEEE.

关键词： Manufacture

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Experimental Study of Upper Limb Exoskeleton Control Based on IMUs Sensory System

Experimental Study of Upper Limb Exoskeleton Control Based o...

引用

2019 Novel Intelligent and Leading Emerging Sciences Conference, NILES 2019

作者： Atia, Mohamed G. B. Ibrahim, Khalil Salah, Omar Egypt-Japan University of Science and Technology Dept. of Mechatronics and Robotics Engineering Alexandria Egypt Assiut University Dept. of Mechanical Engineering Assiut Egypt

ISBN: (纸本)9781728131733

This paper describes experimental study of controlling an upper limb exoskeleton to track the user's arm. The main purpose of this paper is to discuss and evaluate the control strategies and sensory system with different users. Furthermore, this study has used IMU sensors which are put on the users arm to attain an outstanding interactive control to make the user's arm imitation to the exoskeleton much comfortable, flexible and improved. To evaluate that, several experiments are performed. The results of these experiments indicate that the sensory system and control system are successful and have good performance to track user arm and control all the system. © 2019 IEEE.

关键词： Exoskeleton (robotics)

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A Top-View Hand Gesture Recognition System for IoT Applications 5

A Top-View Hand Gesture Recognition System for IoT Applicati...

引用

5th International Conference on Smart Systems and Inventive Technology, ICSSIT 2023

作者： Wisener, William J. Rodriguez, Jorge Diaz Ovando, Ammy Woolford, Christopher Patel, Kishan Kennesaw State University Dept. of Robotics and Mechatronics Engineering Department of Physics AtlantaGA United States

ISBN: (纸本)9781665474672

Gesture recognition integrated into Internet of Things (IoT) systems is a growing field with opportunities for improvement. Identifying hand gestures from vertical angles with a cooperative network of cameras can enable a broader collection of control methods for controlling IoT devices within residential and commercial environments. Integrating this smart home framework with other IoT control methodologies also creates a more user-friendly experience. To generate a proof of concept of the effectiveness with this control framework, a convolutional neural network was created using the YOLOv7 deep learning architecture and Roboflow software. This image detection network was connected to a simulated IoT device via Home Assistant home automation software and communicates using the MQTT protocol. The gesture detection system was tested on different camera setups to evaluate the importance of camera position and data sharing within a smart-home device network. © 2023 IEEE.

关键词： Internet of things

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A full order sliding mode tracking controller for direct drive robot manipulators

A full order sliding mode tracking controller for direct dri...

引用

2004 5th Asian Control Conference

作者： Ahmad, M.N. Osman, Johari H.S. Dept. of Robotics and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 UTM Skudai Malaysia

ISBN: (纸本)0780388739

This paper presents the development of a full order sliding mode controller for tracking problem of direct drive robot manipulators. By treating the arm as an uncertain system represented by its nominal and bounded parametric uncertainties, a new robust full-order sliding mode tracking controller is derived such that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. A proportional-integral sliding surface is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a three DOF direct drive robot manipulator is considered.

关键词： Sliding mode control

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Robust sliding mode control for robot manipulator tracking problem using a proportional-integral switching surface

Robust sliding mode control for robot manipulator tracking p...

引用

Student Conference on Research and Development, SCOReD 2003

作者： Ahmad, Mohamad Noh Osman, Johari H.S. Dept. of Robotics and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia UTM Skudai 81310 Malaysia

ISBN: (纸本)0780381734

This paper Proportional-Integra1 tracking problem of presents the development of a sliding mode controller for robot manitsulators. A robust sliding mode controller is deriveh so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly non-linear and coupled dynamics. The Proportional-Integral sliding mode is chosen to ensure the stability of the overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a two-link planar robot manipulator is presented. © 2003 IEEE.

关键词： Sliding mode control

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Application of proportional-integral sliding mode tracking controller to robot manipulators

Application of proportional-integral sliding mode tracking c...

引用

Proceedings of 2003 IEEE Conference on Control Applications

作者： Ahmad, Mohamad Noh Osman, Johari H.S. Dept. of Mechatronics and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 UTM Skudai Malaysia

This paper presents the development of a Proportional-Integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly non-linear and coupled dynamics. The proposed controller is designed using the centralized and decentralized approaches. The Proportional-Integral sliding mode is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a two-link planar robot manipulator is considered.

关键词： Sliding mode control

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Probabilistic Modelling and Safety Assurance of an Agriculture Robot Providing Light-Treatment 19

Probabilistic Modelling and Safety Assurance of an Agricultu...

引用

19th IEEE International Conference on Automation Science and engineering, CASE 2023

作者： Adam, Mustafa Ye, Kangfeng Anisi, David A. Cavalcanti, Ana Woodcock, Jim Morris, Robert Robotics Group Faculty of Science & Technology Norway University of York Dept. of Computer Science United Kingdom Faculty of Engineering and Science Dept. of Mechatronics Norway Saga Robotics As Norway

ISBN: (纸本)9798350320695

Continued adoption of agricultural robots postulates the farmer's trust in the reliability, robustness and safety of the new technology. This motivates our work on safety assurance of agricultural robots, particularly their ability to detect, track and avoid obstacles and humans. This paper considers a probabilistic modelling and risk analysis framework for use in the early development phases. Starting off with hazard identification and a risk assessment matrix, the behaviour of the mobile robot platform, sensor and perception system, and any humans present are captured using three state machines. An auto-generated probabilistic model is then solved and analysed using the probabilistic model checker PRISM. The result provides unique insight into fundamental development and engineering aspects by quantifying the effect of the risk mitigation actions and risk reduction associated with distinct design concepts. These include implications of adopting a higher performance and more expensive Object Detection System or opting for a more elaborate warning system to increase human awareness. Although this paper mainly focuses on the initial concept-development phase, the proposed safety-assurance framework can also be used during implementation, and subsequent deployment and operation phases. © 2023 IEEE.

关键词： Agricultural robots

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