The problem of designing a minimum-weight one-link flexible arm for a specified fundamental frequency of vibration has been investigated. The optimum design problem is formulated as a nonlinear eigenvalue problem usin...
The problem of designing a minimum-weight one-link flexible arm for a specified fundamental frequency of vibration has been investigated. The optimum design problem is formulated as a nonlinear eigenvalue problem usin...
详细信息
The problem of designing a minimum-weight one-link flexible arm for a specified fundamental frequency of vibration has been investigated. The optimum design problem is formulated as a nonlinear eigenvalue problem using the variational method. Two iteration schemes are developed to find the optimum solution in the normal and degenerated cases. Numerical results have indicated that a significant reduction in link weight can be achieved by the proposed method. For example, for a geometrically similar cross section and a specified fundamental frequency ranging from 1 Hz to 10 Hz, the weight of an optimum link is 400% to 600% lighter than that of an uniform link. (C) 1997 John Wiley & Sons, Inc.
A simple, but effective, method of calibrating a multimanipulator robotic system is introduced. The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and require no measuring in...
详细信息
A simple, but effective, method of calibrating a multimanipulator robotic system is introduced. The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and require no measuring instrumentation. The method is tested on a dual-arm system which resulted in an order of magnitude reduction in the pose error. Coordinated dual-arm manipulation experiments are conducted using the calibrated kinematic model to validate the usefulness of the calibration process
Three degree of freedom planar mechanisms occur in nature and are fundamental to many robotic devices. This paper concerns the use of evaluation criteria, developed by the authors, to select the link lengths of 3 DOF ...
详细信息
Three degree of freedom planar mechanisms occur in nature and are fundamental to many robotic devices. This paper concerns the use of evaluation criteria, developed by the authors, to select the link lengths of 3 DOF planar manipulators and analyze their operational performance. The technique has wide application to the design of serial and parallel robots.
Hybrid position/force control is not always stable by adjusting the control parameters. There may be unstable regions if position and force control are exerted simultaneously because of an inappropriate kinematic coor...
详细信息
Hybrid position/force control is not always stable by adjusting the control parameters. There may be unstable regions if position and force control are exerted simultaneously because of an inappropriate kinematic coordinate transformation in the feedback path. To realize hybrid control for redundant manipulators, we analyze system stability and develop an improved hybrid control scheme that ensures kinematically stable operation.
In this research we develop criteria for analyzing robotic mechanisms based on workspace geometry, singularities, and indices for global conditioning, global velocity, global payload, global deformation and global err...
详细信息
In this research we develop criteria for analyzing robotic mechanisms based on workspace geometry, singularities, and indices for global conditioning, global velocity, global payload, global deformation and global errors. These criteria provide a basis for performance evaluation and optimal design.
This paper treats grasping and manipulation of objects by articulated, multifingered hands. We discuss how to use redundancy to improve the performance of hand-object systems and compensate for potential task failures...
详细信息
This paper treats grasping and manipulation of objects by articulated, multifingered hands. We discuss how to use redundancy to improve the performance of hand-object systems and compensate for potential task failures. We analyze the kinematics for manipulation. Definitions of redundancy based on a minimum-case measure are presented and an optimization method for redundancy control is proposed. Strategies for optimal fault-tolerant control are introduced to accomplish tasks using finger reconfiguration and joint torque redistribution.
It is desirable for autonomous robot systems to posses the ability to behave in a smooth and continuous fashion when interacting with an unknown environment. Since Q-learning is normally used for optimizing a series o...
详细信息
It is desirable for autonomous robot systems to posses the ability to behave in a smooth and continuous fashion when interacting with an unknown environment. Since Q-learning is normally used for optimizing a series of discrete actions, it may be undesirable when applied to a real environment which involves continuous states and actions. In this paper, we propose a new method of Q-learning that incorporates a fuzzy interpolation technique which is used to approximate a continuous state. Our learning method can estimate current state by its neighboring states and has the ability to learn its actions similar to that of Q-learning. Thus, our method can enable robots to react smoothly in a real environment. Simulation results involving an autonomous robot are given to show the validity of our method.
The emergence and effectiveness of communication interface in a colony of autonomous agents is discussed in this paper. The robotic agents sense the world within which they are embedded, while performing specific task...
详细信息
In many industrial applications such as autonomous vehicle guidance and robotic manipulations, reliable 3-D informations must be extracted from the scene in order to provide a robust description of the environment in ...
详细信息
In many industrial applications such as autonomous vehicle guidance and robotic manipulations, reliable 3-D informations must be extracted from the scene in order to provide a robust description of the environment in which the system evolves. This paper presents the TRID sensor, a simple, fast, robust and accurate 3-D sensing device based on the Biris technology. TRID is limited to a lateral resolution of one point. Experimental results show that an accuracy better than 0.15% can be obtained for the depth component (Z) of 3-D points at a distance of 1.3 meter from a wooden black painted beam surface with an acquisition rate of 8.5 points/s.
暂无评论