This paper presents an approach for designing robust tracking controller for lumped mass model of a vibrating link (VL) robot manipulator. The control methodology is intuitively simple since it is based on concepts wh...
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An intelligent hybrid system architecture is proposed for the design of plastic parts. To facilitate the concept of concurrent engineering, an object-oriented design environment is recommended. Problems with previous ...
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An intelligent hybrid system architecture is proposed for the design of plastic parts. To facilitate the concept of concurrent engineering, an object-oriented design environment is recommended. Problems with previous intelligent design systems are discussed. Using neural networks in conjunction with expert systems may provide the route to a more flexible design space. The necessary architecture to achieve these goals is described. A working model of the system was created. This model is discussed in detail.
An active beacon localization system that estimates position and heading for a mobile robot is described. An iterated extended Kalman filter was applied to the beacon and dead-reckoning data to estimate optimal values...
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An active beacon localization system that estimates position and heading for a mobile robot is described. An iterated extended Kalman filter was applied to the beacon and dead-reckoning data to estimate optimal values of position and heading, given a model for the localizer and robot motion. The author describes the implementation and experimental results of the localization system. Position and heading angle updates were calculated in real time every 150 ms with a measured standard deviation of path error of 40 mm in a 12 m/sup 2/ workspace.< >
A closed-loop feedback scheme for obtaining a goal microstructure during Hot Isostatic Pressing (HIP'ing) of powders is described. The control scheme relies on previously developed process models describing the pr...
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The problem of docking two mobile robots using a wide-beam sonar system is considered. Because of the similarity to biological bats, the problem is discussed in terms of prey capture in two dimensions. The basics of t...
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This paper proposes two simple adaptive control schemes of robot manipulators. The first one is the state feedback control which consists of feedforward from the desired position trajectory, PD feedback from the actua...
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A practical solution to the path planning problem for a six degree-of-freedom manipulator robot with arbitrary payload is described. The three phases of operation are explained. Phase one involves planning for the fir...
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A practical solution to the path planning problem for a six degree-of-freedom manipulator robot with arbitrary payload is described. The three phases of operation are explained. Phase one involves planning for the first three joints in a configuration space model using a distance transform. A real space model and heuristics are then used for the orientation planning of the wrist, gripper and payload. The execution of the path is monitored with sensor panels covering the robot so that safe adjustments to the path can be made if necessary.< >
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