检索结果-内蒙古大学图书馆

IEEE International Conference on Robotics and Automation (ICRA)

作者： F. Nagata K. Watanabe K. Izumi Fukuoka Industrial Technology Center Interior Design Research Institute Fukuoka Japan Interior Design Research Institute Fukuoka Industrial Technology Center Fukuoka JAPAN Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Department of Mechanical Engineering Saga University Saga JAPAN

A furniture polishing robot which uses a trajectory generator based on cutter location data, is proposed. The position and orientation of the polishing tool is suitably controlled by referring to the output from the trajectory generator. The trajectory generator yields a zigzag path, whirl path or their combinational path according to the shape of each workpiece. Using the trajectory generator, the present polishing robot doesn't need the conventional complicated teaching process. The contact force acting between the polishing tool and the workpiece is controlled through a desired impedance model to follow in Cartesian space. The effectiveness and promise of the proposed polishing robot are demonstrated through some experiments concerning polishing tasks using an industrial robot JS-10 with a PC based controller.

关键词： Education Service robots Industrial control Force control Robot sensing systems Electrical equipment industry Data engineering design engineering Shape Educational robots

来源：评论

学校读者我要写书评

暂无评论

TOOTH SURFACE FATIGUE STRENGTH OF NORMALIZED STEEL CONICAL INVOLUTE GEARS

TOOTH SURFACE FATIGUE STRENGTH OF NORMALIZED STEEL CONICAL I...

引用

ASME 2000 International design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2000

作者： Ohmachi, Tatsuya Lizuka, Koji Komatsubara, Hidenori Mitome, Ken-Ichi Department of Mechanical Systems Engineering Yamagata University Jonan 4-3-16 Yonezawa992-8510 Japan Design Section Kamo Plant Niigata Converter Co. Ltd. Gejoh 405 Kamo Niigata959-1391 Japan

ISBN: (纸本)9780791835166

The tooth surface fatigue strength of the conical involute gear is evaluated in this paper. Test gears are straight intersecting-axis conical gears. The material of the test gear is normalized steel. The power circulating testing machine is used in this experiment. The circulating torque is kept constant and the number of times of contact is 10'. The tooth surface life is evaluated by the pitting area rate. The critical value of the circulating torque is found between 147 N-m and 157 N-m. For critical torque, the pitting area rate does not progress over 4 %. The Hertzian contact stress of the test gear is calculated at the circulating torque. The contact stress should be evaluated in consideration of the wearing effects. Copyright © 2000 by ASME.

关键词： Torque

来源：评论

学校读者我要写书评

暂无评论

Application of N-step-ahead Neurocontrol on articulated manipulators

引用

Journal of Field Robotics 2000年第3期17卷

作者： A. Hountras I. Antoniadis A. Kanarachos Machine Design and Control System Section Department of Mechanical Engineering National Technical University of Athens P.O. Box 64078 Athens 15710 Greece

The N -step-ahead control method, called chain-back-propagation, is applied to articulated manipulators. The method is based on a pair of neural networks—the neural controller and the neural emulator—and focuses mainly in the appropriate design of the various global and chain-local penalty functions and the convergence control limitations, needed for the on-line training of the controller. No reference models or paths are needed for the implementation of the method, only set-points. The results, compared to conventional proportional-derivative (PD) control and to traditional one-step-ahead neural control, are quite satisfactory, indicating improved accuracy, faster response, and greater overall efficiency. © 2000 John Wiley & Sons, Inc.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Analysis of deformable object handling

Analysis of deformable object handling

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： H.G. Tanner K.J. Kyriakopoulos Control Systems Laboratory Division of Machine Design and Control Department of Mechanical Engineering National and Technical University of Athens Greece

A manipulated deformable object is viewed as an underactuated mechanical system. In this context controllability issues are discussed and results on the nature of the constraints and the controllability properties of an important class of deformable objects being modeled with finite elements are stated. For this class of deformable objects the results permit to circumvent the usual procedure of calculating Lie brackets to establish a base for the associated Lie algebra, and answers the question of determining the kind of constraints imposed on the system in a straightforward algebraic way. Inequality constraints associated to material strength limitations are also included.

关键词： mechanical systems Finite element methods Mobile robots control systems Equations Orbital robotics controllability Deformable models Laboratories mechanical engineering

来源：评论

学校读者我要写书评

暂无评论

An experiment on profiling task with impedance controlled manipulator using cutter location data

An experiment on profiling task with impedance controlled ma...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： F. Nagata K. Watanabe K. Izumi Fukuoka Industrial Technology Center Interior Design Research Institute Fukuoka Japan Department of Advanced Systems Control Engineering Japan Department of Mechanical Engineering Saga University Saga Japan

We describe how to easily apply an impedance controlled robot to a profiling task along a curved object and to improve the performance using a position compensator based on the cutter location (CL) data. The CL data generated by the CAD/CAM system have information of points along the curved surface and their normal vectors. If the object is manufactured with a multi-axis numerical control (NC) machine tool, the CL data can be used as not only desired trajectory in the direction of position control but also feedforward information in the direction of force control. This technique allows us to generate the desired trajectory without teaching and to improve the performance for profiling control. Some control experiments are shown to demonstrate the effectiveness of the proposed method.

关键词： Impedance Force control Position control Service robots Manipulators Industrial control Education Force feedback Robot control Educational robots

来源：评论

学校读者我要写书评

暂无评论

Position-based impedance control using a fuzzy compensator

Position-based impedance control using a fuzzy compensator

引用

International Conference on Knowledge-Based Intelligent Information engineering systems (KES)

作者： F. Nagata K. Watanabe K. Izumi Fukuoka Industrial Technology Center Interior Design Research Institute Fukuoka Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Honjomachi Saga Japan

A position based impedance control with a fuzzy compensator is proposed to improve a force control performance, in which the environment has unknown dynamics or curved surface. The main attraction of the fuzzy compensator is that it generates proper position compensation as feedforward command so that overshoots and oscillations in the direction of force control can be suppressed satisfactorily. Profiling control simulations using the dynamics of the PUMA560 manipulator are shown to demonstrate the effectiveness and promise of the fuzzy compensator under the environment having unknown dynamic characteristics.

关键词： Fuzzy control Force control Industrial control Manipulator dynamics control systems Surface impedance Service robots Electrical equipment industry Electronic mail design engineering

来源：评论

学校读者我要写书评

暂无评论

Impedance control Using Anisotropic Fuzzy Environment Models

引用

Journal of Robotics and Mechatronics 1999年第1期11卷 60-66页

作者： Nagata, Fusaomi Watanabe, Keigo Sato, Kazuya Izumi, Kiyotaka Interior Design Research Institute Fukuoka Industrial Technology Center Agemaki-405-3 Fukuoka831-0031 Japan Department of Advanced Systems Control Engineering Saga University Saga840-8502 Japan Department of Mechanical Engineering Saga University Saga840 Japan

We describe impedance control for force control in unknown environments, proposing anisotropic fuzzy environment models that estimate environmental stiffness using fuzzy reasoning and generate time-varying damping for stable force control. Each model is automatically taught with genetic algorithms (GAs), in vyhich evaluation is made for force control in several known environments. Taught models are integrated for generalization. We apply models to tasks in which an industrial robot sands or polishes wood is differently stiff in different direction. Numerical simulations demonstrate the effectiveness of our method. © Fuji Technology Press Ltd.

关键词： Force control

来源：评论

学校读者我要写书评

暂无评论

Generalized fuzzy environment models learned with genetic algorithms for a robotic force control

Generalized fuzzy environment models learned with genetic al...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： F. Nagata K. Watanabe K. Sato K. Izumi Fukuoka Industrial Technology Center Interior Design Research Institute Fukuoka Japan Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Saga University Saga Japan Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Saga University Honjomachi Saga Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Honjomachi Saga Japan

Impedance control allows the manipulator to change the mechanical impedance such as inertia, damping and stiffness, acting between the end-effector and its environment. However, to achieve stable force control under unknown stiff environments, complicated tuning of desired impedance parameters is needed. Among the parameters, the desired damping is the most significant to suppress overshoots and oscillations. In the paper generalized fuzzy environment models with anisotropy are proposed to systematically determine the desired damping against unknown environments. The models learned with genetic algorithms, can estimate each directional stiffness of the environment and yield the desired damping, considering the critical damping condition of the control system. Position and force control simulations are shown to demonstrate the effectiveness and promise of the models.

关键词： Damping Impedance Force control Manipulators Tuning Fuzzy systems Anisotropic magnetoresistance Genetic algorithms Yield estimation control system synthesis

来源：评论

学校读者我要写书评

暂无评论

Force control for flexible robots using neural networks

Force control for flexible robots using neural networks

引用

American control Conference (ACC)

作者： J. Borowiec A. Tzes Network Wireless Systems Product Design & Realization Lucent Technologies Inc. Whippany NJ USA Control/Robotics Research Laboratory Mechanical Engineering Department Six Metrotech Center Polytechnic University Brooklyn NY USA

Force control for flexible link robots using neural networks is considered. The nonlinear dynamics of the robot manipulator are identified through a recurrent neural network (RNN), which is trained in an off-line manner. Inversion of the RNN-based model dynamics leads to a feedforward component. The feedback controller gains are derived from the minimization of a discrete linear quadratic cost functional, subject to the model dynamics inferred by the linearization of the neural network along the desired trajectory. Sufficient conditions for temporal gain switching bounds are provided. The proposed control scheme is employed in simulation studies on a two link rigid-flexible manipulator.

关键词： Force control Neural networks Manipulator dynamics Recurrent neural networks Force feedback Jacobian matrices Adaptive control Cost function Robot kinematics Torque

来源：评论

学校读者我要写书评

暂无评论

Semi-Stochastic Complex Neural Networks

引用

IFAC Proceedings Volumes 1998年第12期31卷 47-52页

作者： Andreas E. Kanarachos Kleanthis T. Geramanis National Technical University of Athens Department of Mechanical Engineering Mechanical Design & Control Systems Division Polytechnic Campus Zografou P.O.Box 64078 15710 Greece

In this paper a new "semi-stochastic" methodology for the detennination of the weights of a neural network is proposed. The method is based on stochastic extension of the detenninistic Complex parameter optimization method and on ways of controlling the initial complex. The proposed technique is characterized by satisfactory convergence properties and ability to solve the problem of optimal neural network weights with a higher reliability than other methods do. A successful demonstration in the case of robust control of a nonlinear dynamic system with actuator's saturation, reveals a fast and reliable neural network procedure for designing direct neural network controllers.

关键词： Closed-loop control Dynamic systems Neural network models Nonlinear systems Robust control

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：