To accurately identify the three-dimensional (3D) structure information of non-cooperative targets in on-orbit service tasks, this paper proposed a 3D reconstruction method combining pose measurement and dense reconst...
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This paper presents a novel treadmill-based multifunctional testing system (TRUSTS) to execute ground testing for wheeled planetary exploration rover (WPER) in both regular and extreme physical conditions before launc...
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In order to improve the accuracy of robot dynamics parameter identification, this paper designs a step-by-step identification method based on weighted least squares. The robot dynamics model is first linearized to obt...
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ISBN:
(数字)9798350373172
ISBN:
(纸本)9798350373189
In order to improve the accuracy of robot dynamics parameter identification, this paper designs a step-by-step identification method based on weighted least squares. The robot dynamics model is first linearized to obtain the minimum parameter set. Subsequently, the friction model is built separately and experiments are designed to recognize the joint friction parameters first. Based on this, the excitation trajectory of finite term Fourier series is designed and optimized and data are collected. The joint moments obtained from the difference between the overall experimentally collected moments and the calculated friction moments are used to obtain the complete robot dynamics parameters based on weighted least squares identification. Comparison of the designed overall identification experiments shows that the total moment residuals of this method are reduced by 35.52% compared with the one-time identification method, which proves the effectiveness of this method.
Camera-based tactile sensors provide a convenient and low-cost approach for robot tactile perception. However, existing sensors are customized and only suit limited robots, which retards tactile applications. In this ...
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In this paper, we research and analyse the practical needs of robotic arm to complete the complex path planning of robotic arm and smooth transition of multi-attitude in the shortest time under the premise of satisfyi...
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ISBN:
(数字)9798350373172
ISBN:
(纸本)9798350373189
In this paper, we research and analyse the practical needs of robotic arm to complete the complex path planning of robotic arm and smooth transition of multi-attitude in the shortest time under the premise of satisfying the dynamics constraints, and put forward the time-optimal trajectory planning based on NURBS curves and multi-attitude interpolation algorithm based on quaternion with NURBS curves. Using the complex nature of quaternions, the quaternions are converted into three-dimensional space points for curve interpolation, and finally converted back to quaternions to achieve the second-order continuity of multi-gesture interpolation; a time-optimal trajectory planning algorithm based on NURBS curves is designed, which discretises the curves, and fits the NURBS curves using the discrete points. At the same time, the optimal rate solution under all the constraints is calculated point by point according to the discrete points on the motion path, and the optimal velocity curve satisfying the dynamics constraints is obtained, so as to achieve the time-optimal trajectory planning. Finally, the feasibility of the designed trajectory planning algorithm is verified in the simulation software and experimental platform, and it is proved that the algorithm can effectively improve the running speed by at least 30%.
Recently,with the rapid development of aerospace technology,an increasing number of spacecraft is being launched into ***,the demands for on-orbit servicing(OOS)missions are rapidly *** robotics is one of the most pro...
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Recently,with the rapid development of aerospace technology,an increasing number of spacecraft is being launched into ***,the demands for on-orbit servicing(OOS)missions are rapidly *** robotics is one of the most promising approaches for various OOS missions;thus,research on space robotics technologies for OOS has attracted increased attention from space agencies and universities *** this paper,we review the structures,ground verification,and onorbit kinematics calibration technologies of space robotic systems for ***,we systematically summarize the development of space robotic systems and OOS programs based on space ***,according to the structures and applications,these systems are divided into three categories:large space manipulators,humanoid space robots,and small space *** to the capture mechanisms adopted,the end-effectors are systematically ***,the ground verification facilities used to simulate a microgravity environment are summarized and ***,the on-orbit kinematics calibration technologies are discussed and analyzed compared with the kinematics calibration technologies of industrial manipulators with regard to four ***,the development trends of the structures,verification,and calibration technologies are discussed to extend this review work.
In this paper, we propose one kind of a dielectric elastomer actuated micro-positioning stage (DEAMS) that can achieve both large stroke and high resolution. To this end, a customized multilayer dielectric elastomer a...
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For the cable-driven hyper-redundant robot, most of the current drive cable length estimation methods consider that the cable always passes through the center of the hole, and do not consider the effect of cable-hole ...
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The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming t...
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An in-vivo rabbit model was developed to enable experiments for deciding the safety criteria for skin injuries in human-robot contact. The skin of the human finger was considered as a part vulnerable to harm during hu...
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