Many real world applications will involve grasp of large objects in unstructured environments. Agent-based approach to multi-robot grasp of objects would prove useful under the above circumstances. In this paper, the ...
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ISBN:
(纸本)0780384636
Many real world applications will involve grasp of large objects in unstructured environments. Agent-based approach to multi-robot grasp of objects would prove useful under the above circumstances. In this paper, the problem of form closure grasp for planar convex objects by multiple robots is tackled. Contrary to the previous approaches, no a priori information about the shape of the object is assumed, and the robots are not allowed to fully communicate among themselves. A distributed multi-agent-based approach using Q-learning is proposed. The state space, action set and learning algorithm are formulated. The results are verified through simulations using a developed Q-learning testbed.
Instead of using the tedious process of robot teaching, an off-line path planning algorithm based on wave expansion method has been developed for industrial robots. The continuous Cartesian W-space in world coordinate...
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ISBN:
(纸本)0780382730
Instead of using the tedious process of robot teaching, an off-line path planning algorithm based on wave expansion method has been developed for industrial robots. The continuous Cartesian W-space in world coordinates is discretized into an equidistant 3D-grid and then the free points and obstacle points are indicated by different numbers. By use of the wave expansion method, the free points are further assigned marked number. The path is finded based on the assigned marked number via wave expansion method. As comparison, depth-first search method is presented. The proposed algorithm is tested on a 6-DOF industrial robot and the expected results are obtained.
The evolutionary learning is used to improve the intelligence of the soccer robot strategy system. The strategy procedure is composed of four steps: sensor information processing, team behavior decision, actions alloc...
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The evolutionary learning is used to improve the intelligence of the soccer robot strategy system. The strategy procedure is composed of four steps: sensor information processing, team behavior decision, actions allocation, robot action. The rules described as if state then action are used in the team behavior decision to determine the team behavior and the evolutionary learning is used to discover new rules. The evolutionary soccer robot strategy system is constructed and experiment results show that it has highly ability.
Robot soccer game is a kind of soccer game with robots as its players. It involves the knowledge of robotics and soccer theories to design the decision-making system of robot soccer. A strategic editing device for the...
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Robot soccer game is a kind of soccer game with robots as its players. It involves the knowledge of robotics and soccer theories to design the decision-making system of robot soccer. A strategic editing device for the robot soccer with graphic user interface is designed with the user oriented. It makes it easy to properly apply the human soccer theories to robot soccer game without too much computer knowledge.
This paper considers the design of the cylindric PRS serial chain. This five degree-of-freedom robot can be designed to reach an arbitrary set of eight spatial positions. However, it is often convenient to choose some...
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This paper considers the design of the cylindric PRS serial chain. This five degree-of-freedom robot can be designed to reach an arbitrary set of eight spatial positions. However, it is often convenient to choose some of the design parameters and specify a task with fewer positions. For this reason, we study the three through eight position synthesis problems and consider various choices of design parameters for each. A linear product decomposition is used to obtain bounds on the number of solutions to these design problems. For all cases of six or fewer positions, the bound is exact and we give a reduction of the problem to the solution of an eigenvalue problem. For seven and eight position tasks, the linear product decomposition is useful for generating a start system for solving the problems by continuation. The large number of solutions so obtained contraindicates an elimination approach for seven or eight position tasks, hence continuation is the preferred approach.
In this paper, behavior of teleoperation systems with modeling error and error of delay time in Smith predictor is discussed. In teleoperation systems usually there is a large distance between Master system and Slave ...
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In this paper, behavior of teleoperation systems with modeling error and error of delay time in Smith predictor is discussed. In teleoperation systems usually there is a large distance between Master system and Slave system. In this case there is always an error in modeling of system. The condition for stability of teleoperation systems with modeling error is derived by introducing of a theorem. This theorem can assist a designer in ensuring the stability of the teleoperation system. Also, error of delay time and stability of teleoperation systems by using of Internet as communication channel are discussed. The effect of delay time prediction on the system stability and performance is studied and it is shown that delay time prediction could improve system performance. Simulation results are presented to verify the obtained results.
This work emphasizes on the implementation of soft computing techniques for the production planning of complex manufacturing plants. A hierarchical control structure has been assumed to control and to optimize the che...
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This work emphasizes on the implementation of soft computing techniques for the production planning of complex manufacturing plants. A hierarchical control structure has been assumed to control and to optimize the che...
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This work emphasizes on the implementation of soft computing techniques for the production planning of complex manufacturing plants. A hierarchical control structure has been assumed to control and to optimize the chemical process of a complex plant with successful results and at the highest hierarchical level the production planning should meet the fluctuating demands in optimal way. This level integrates the operational and business management requirements where the soft computing technique of Fuzzy Cognitive Maps is proposed to model these tasks. The strategic planning for the hierarchical integrated system realizes the optimal total management at the corporate level. The obtained simulation results prove the applicability of the proposed methodology and the advantages of using soft computing modeling techniques for the sophisticated high level of hierarchical systems.
The paper examines the usefulness of Fuzzy Cognitive Maps in modeling complex systems and specifically their use in modeling manufacturing systems and information from an abstract point of view. Aspects such as Fuzzy ...
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The paper examines the usefulness of Fuzzy Cognitive Maps in modeling complex systems and specifically their use in modeling manufacturing systems and information from an abstract point of view. Aspects such as Fuzzy Cognitive Map representation and development are presented and PCM use to develop a behavioral model of the system is discussed. Fuzzy Cognitive Maps applicability in modeling complex systems and their use to aggregate different models for the complex system is discussed. A hierarchical structure is proposed, where a Fuzzy Cognitive Map models the supervisor of the system.
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