检索结果-内蒙古大学图书馆

International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM

作者： J.M. Rosario E.R. Cassemiro D. Dumur Laboratory of Automation and Robotics State University of Campinas-UNICAMP Sao Paulo Brazil Department of Automatic Control SUPELEC Gif-sur-Yvette France

As the main aim for mechatronics engineers in the field of industrial robotic is basically to enhance velocity and accuracy of the treated structure, more and more powerful systems for the design and optimization process are developed. Indeed, in industrial environments, they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. The rapid control prototyping is executed with simulation programs (mechanical and electronics devices) embedded in the real time environment. The design of the control system should guarantee a damped behavior of the load position, both in the set point response and in the rejection of the disturbances arising from the joints operation. This paper presents an application of predictive control laws to a robot trajectory control using an integrated virtual environment for the modeling and simulation of mechatronics devices

关键词： Robot control Prototypes Service robots Mechatronics Electrical equipment industry Predictive models Design engineering Power engineering and energy Process design Design optimization

来源：评论

学校读者我要写书评

暂无评论

Conception of Stewart-Gough platform with reconfigurable control using integrate prototyping

Conception of Stewart-Gough platform with reconfigurable con...

引用

International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM

作者： J.M. Rosario E. Oliveira D. Dumur Laboratory of Automation and Robotics DPM-FEM Unicamp Campinas Sao Paulo SP Brazil Automatic Control Department Gif-sur-Yvette France

This paper shows that a hierarchical architecture, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing, enables to take into account the easiness of future modifications, updates and improvements in robotic applications. An experimental example of a Stewart-Gough platform control, platform applied as a solution of countless practical problems, is presented using reconfigurable computing. The developed software and hardware are structured in independent blocks. This open architecture implementation allows an easy expansion of the system and a better adaptation of the platform to its related tasks

关键词： Prototypes Hydraulic actuators robotics and automation automatic control Leg Vectors Brazil Council Laboratories Robot kinematics Extremities

来源：评论

学校读者我要写书评

暂无评论

ANALYSIS OF FRACTIONAL - ORDER ROBOT AXIS DYNAMICS

引用

IFAC Proceedings Volumes 2006年第11期39卷 367-372页

作者： J.M. Rosario D. Dumur J.A. Tenreiro Machado Laboratory of Automation and Robotics - Faculty of Mechanical Engineering UNICAMP - University of Campinas 13083-970 – Campinas- SP Brazil Department of Automatic Control SUPELEC 91192 - Gif-sur-Yvette France Department of Electrical Engineering Institute of Engineering Polytechnic Institute of Porto 4200-072 Porto Portugal

Robots are complex mechatronics systems where several electric drives are employed to control the movement of articulated structures. In industrial environments they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. These procedures require the use of flexible robots which can act in a large workspace, thus subjected to important parameters variations and nonlinear dynamics effects. This paper investigates the fractional order dynamics during the evolution of trajectories of three robotic joints, considering the complete system dynamics.

关键词： Mechatronics robotics Simulation Dynamics control Fractional calculus

来源：评论

学校读者我要写书评

暂无评论

Improved AFM Scanning Methodology with Adaptation to the Target Shape

Improved AFM Scanning Methodology with Adaptation to the Tar...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： L.M. Munoz A. Casals J. Amat M. Puig-Vidal J. Samitier Department Automatic Control-UPC Center of Bioengineering of Catalonia Barcelona Spain Institute of Robotics UPC-CSIC Center of Bioengineering of Catalonia Barcelona Spain CBEN Laboratory Center of Bioengineering of Catalonia Barcelona Spain

This paper presents a manipulation and measurement aid for tasks carried out in micro-nano environments operating with scanning AFM. In teleoperated manipulation or measurement over a given point of the target, where a slow and precise movement is necessary, the developed system increases the accuracy in this point producing a space deformation. In automatic scanning, the adjusted selection of the target, through assisted image segmentation, enables to reduce the working time.

关键词： Shape Atomic force microscopy Optical microscopy Cells (biology) Biomedical optical imaging Biological cells Optical polymers Image resolution Testing Laboratories

来源：评论

学校读者我要写书评

暂无评论

Impedance control Based Gait-Pattern Adaptation for a Robotic Rehabilitation Device

引用

IFAC Proceedings Volumes 2002年第2期35卷 389-393页

作者： S. Jezernik K. Jezernik M. Morari ETH Zürich Automatic Control Laboratory Physikstrasse 3 8092 Zürich Switzerland Paraplegic center ParaCare University Hospital Balgrist Forchstrasse 340 8008 Zürich Switzerland University of Maribor Insitute of Robotics Smetanova 17 2000 Maribor Slovenia

A novel impedance control scheme has been developed for a robotic rehabilitation orthosis. The scheme comprises an inner force control loop and an outer position control loop. The performance of the impedance controller was tested in computer simulations and in actual experiments. Further on, a novel gait-pattern adaptation algorithm based on the impedance control was formulated and realized. The algorithm adapts the reference walking trajectories according to the physical interaction of the patient with the robotic orthosis. In this way the patient can actively influence the motion during the rehabilitation exercise. Experiments with healthy subjects and spinal cord injured patients demonstrated that the algorithm was able to provide the desired gait-pattern adaptation.

关键词： robotics medical applications biomechanics

来源：评论

学校读者我要写书评

暂无评论

Robot Fine-Motion control

引用

IFAC Proceedings Volumes 2000年第27期33卷 43-48页

作者： Jarosław Warczyński Robotics and Automatic Control Laboratory Electrical Faculty Poznań University of Technology

Truly intelligent and efficient robot automation of assembly processes requires accounting for uncertainty in the world and for the inherent inaccuracy of robots. The paper addresses this problem involving autonomous adjustment of robot fine-motions which is needed to cope with variety of faults during the execution of constrained manipulation tasks to be encountered in assembly processes. To solve the problem it has been proposed to apply a task-level programming system aimed at automatic synthesizing of sensor-based fine-motion control procedures which shall compliment task-level programs to ensure their successful execution. The presented system was placed in the supervisory level of the control system of Zebra ZERO research robot, and such a tryout setup was used for experimental verification of the proposed approach.

关键词： Robot programming assembly fault-tolerant systems intelligent knowledge-based systems

来源：评论

学校读者我要写书评

暂无评论

Robust fuzzy and recurrent neural network motion control among dynamic obstacles for robot manipulators

Robust fuzzy and recurrent neural network motion control amo...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： J.B. Mbede X. Huang M. Wang Robotics Laboratory Automatic Control Engineering Department Huazhong University of Science and Technology Wuhan China

An integration of a fuzzy controller and modified Elman neural networks (NN) approximation-based computed-torque controller is proposed for motion control of autonomous manipulators in dynamic and partially known environments containing moving obstacles. The navigation technique of robot control using artificial potential fields is based on the fuzzy controller. The NN controller can deal with unmodeled bounded disturbances and or unstructured unmodeled dynamics of the robot arm. The NN weights are tuned online, with no off-line learning phase required. The stability of the closed-loop system is guaranteed by the Lyapunov theory. The purpose of the controller, which is designed as a neuro-fuzzy controller, is to generate the commands for the servo-systems of the robot so it may choose its way to its goal autonomously, while reacting in real-time to unexpected events. The proposed scheme has been successfully tested. The controller also demonstrates remarkable performance in adaptation to changes in manipulator dynamics. Sensor-based motion control is an essential feature for dealing with model uncertainties and unexpected obstacles in real-time world systems.

关键词： Robust control Fuzzy control Fuzzy neural networks Recurrent neural networks Motion control Neural networks Manipulator dynamics Artificial neural networks Computer networks Navigation

来源：评论

学校读者我要写书评

暂无评论

Application of a genetic algorithm in triangulation of a 3-D object surface

引用

International Journal of Computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

来源：评论

学校读者我要写书评

暂无评论

Fine-motion strategies programming for robots 1

Fine-motion strategies programming for robots

引用

1st Workshop on Robot Motion and control, RoMoCo 1999

作者： Warczyński, Jaroslaw Robotics and Automatic Control Laboratory Electrical Facility Poznań University of Technology Poland Katedra Automatyki Robotyki i Informatyki Politechnika Poznańska PoznańPL-60-965 Poland

ISBN: (纸本)0780356551

The paper presents a research on control and programming fault-tolerant robot fine-motions for constraint tasks encountered, by instance, in robot automation of assembly processes. It concerns mainly the problem of the autonomous adjustment of fine-motion misplacements which can be resulted from a number of factors but especially from the constrained accuracy of robots. It has been proposed to apply a task-level programming concept which assumes that user programs specify only goals of robot motions without any need to develop means ensuring the goals to be achieved. The control programs including such means will be synthesized by an automatic programming system developed for complementing user programs with the sensor-based fine-motion control strategies. The presented system was placed in a supervisory level of the three-layered control system of Zebra ZERO research robot, and such a tryout setup was used for experimental verification of the proposed approach. © 1999 IEEE.

关键词： Robot programming

来源：评论

学校读者我要写书评

暂无评论

Using incremental learning for transition from rule based behavior to motion sequences for motor control of a flexible robot system

Using incremental learning for transition from rule based be...

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： K. Hohm E. Brucherselfer H.G. Boetselaars Institute of Automatic Control Control Theory and Robotics Laboratory Darmstadt University of Technology Darmstadt Germany Technische Universitat Darmstadt Darmstadt Hessen DE

In the context of service robotics very often no model of the environment exists. The actual situation can partially be recognized by sensors as a snapshot, which is then used for planning an action; the optimal trajectory, e.g., in manipulation tasks, to reach a desired destination is often very difficult to compute because not all aspects were captured by the sensors. Therefore, systems with rule based behavior can be used to autonomously plan the motion online using mainly tactile sensor information. For repeating the same or a similar task, it would be nice to have motion sequences allowing much faster motions with less collisions. The problem we address in this paper is the transition from rule based behavior towards motion sequences without losing the flexibility of the system, which is necessary to adapt a motion sequence to the actual situation and to deal with unforeseen events during execution.

关键词： robotics and automation Trajectory Robot sensing systems Motor drives automatic control control theory Electronic mail Context-aware services Context modeling Motion planning

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：