In this paper we present a stereo vision based system for segmentation and location computation of partially occluded objects in bin picking environments. Algorithms to segment partially occluded objects and to find t...
详细信息
In this paper we present a stereo vision based system for segmentation and location computation of partially occluded objects in bin picking environments. Algorithms to segment partially occluded objects and to find the object location [midpoint,x, y and z co-ordinates] with respect to the bin area are proposed. The z co-ordinate is computed using stereo images and neural networks. The proposed algorithms is tested using two neural network architectures namely the Radial Basis Function nets and Simple Feedforward nets. The training results fo feedforward nets are found to be more suitable for the current *** proposed stereo vision system is interfaced with an Adept SCARA Robot to perform bin picking operations. The vision system is found to be effective for partially occluded objects, in the absence of albedo effects. The results are validated through real time bin picking experiments on the Adept Robot.
The use of gantry crane systems for transporting payload is very common in industrial applications. However, moving the payload using the crane is not an easy task especially when strict specifications on the swing an...
详细信息
Future Flexible Materials Handling systems will employ multiple cooperating mobile materials handling platforms in order to carry out required materials handling tasks. Mobile robotic system research and development i...
详细信息
ISBN:
(纸本)9780958758390
Future Flexible Materials Handling systems will employ multiple cooperating mobile materials handling platforms in order to carry out required materials handling tasks. Mobile robotic system research and development is by nature, distributed. An internationally developed and accepted Flexible Materials Handling management framework will aid in correlating research efforts and allow for system developments to be communicated across a standardised and well understood platform. This paper presents a layout of such a standardised framework, structured around the model of a multiuser Operating System in order to develop well understood and generic mechanisms. This aids in the realisation of Flexible Materials Handling (FMH) systems.
Mass production of customised products requires materials handling platform architectures to be flexible enough to accommodate varying geometries, masses and volumes of materials. Multi-agent control and coordination ...
详细信息
ISBN:
(纸本)9780958758390
Mass production of customised products requires materials handling platform architectures to be flexible enough to accommodate varying geometries, masses and volumes of materials. Multi-agent control and coordination structures are under development to provide flexible and scalable transportation systems. In this paper the concept of mechatronics has been used to develop a Flexible Materials Handling mobile platform architecture, suited to operation in both singular mobile platform and multiple cooperating mobile platform contexts. Materials handling was provided by the cooperation of multiple differential drive platforms fitted with servo operated and articulated conveyors.
Applying software reuse to many Embedded Real-Time (ERT) systems poses significant challenges to industrial software processes due to the resource-constrained and real-time requirements of the systems. Autonomous Mobi...
详细信息
Applying software reuse to many Embedded Real-Time (ERT) systems poses significant challenges to industrial software processes due to the resource-constrained and real-time requirements of the systems. Autonomous Mobile Robot (AMR) system is a class of ERT systems, hence, inherits the challenge of applying software reuse in general ERT systems. Furthermore, software reuse in AMR systems is challenged by the diversities in terms of robot physical size and shape, environmental interaction and implementation platform. Thus, it is envisioned that component-based software engineering will be the suitable way to promote software reuse in AMR systems with consideration to general requirements to be self-contained, platform-independent and real-time predictable. A framework for component-oriented programming for AMR software development using PECOS component model is proposed in this paper. The main features of this framework are: (1) use graphical representation for components definition and composition;(2) target C language for optimal code generation with resource-constrained micro-controller;and (3) minimal requirement for run-time support. Real-time implementation indicates that, the PECOS component model together with the proposed framework is suitable for resource constrained embedded AMR systems software development.
A precision compliant parallel-structure positioner is presented in this paper, which is dually driven by six piezoelectric motors and six piezoelectric ceramics respectively. This compliant system has a load capacity...
详细信息
This paper presents the operation strategy for a hexapod walking machine that has been designed and built at LARM in Cassino with low-cost easy-operation features. Special care has been addressed in proposing an archi...
详细信息
A novel classifier is presented, which can achieve the finger motion control of a 3-DOF prosthetic hand by measuring the surface EMG through three electrodes mounted on the flexor pollicis longus, flexor digitorum pro...
详细信息
A novel classifier is presented, which can achieve the finger motion control of a 3-DOF prosthetic hand by measuring the surface EMG through three electrodes mounted on the flexor pollicis longus, flexor digitorum profundus and extensor digitorum. By using wavelet transform and sample entropy to construct feature vectors, the flexion and extension of the thumb, the index finger and the middle finger can be successfully identified via three-layer feedforward neural network which combines the variable learning rate (VLR) and resilient backpropagation (RP) algorithm. The average correct rate is above 96%. Furthermore, the experimental results show that the classifier presents a new method for the EMG control of the multi-DOF prosthetic hand.
With today's Virtual Reality (VR) systems, it is difficult to create precise assembly models through 3D interactions due to hardware limitations. In this paper, an efficient approach is presented for intuitive and...
详细信息
ISBN:
(纸本)0780393112
With today's Virtual Reality (VR) systems, it is difficult to create precise assembly models through 3D interactions due to hardware limitations. In this paper, an efficient approach is presented for intuitive and precise assembly modeling in a VR environment. Assembly modelling is performed by precise constraint-based 3D direct manipulations in an intuitive manner. Constraint-based manipulations are accompanied with automatic constraint recognition and precise constraint satisfaction, and are realized by allowable motions for precise 3D interactions in the VR environment. Some special constraint-based assembly operations are constructed for assembly modelling in the VR environment. A method for recognizing the pairs of mating features between assembly components is presented. This method integrates 3D direct manipulations with a feature mating knowledge base and makes the process of recognizing a pair of mating features intuitive. A concept of offset solid is also presented for determining assembly components. A prototype system has been developed for assembly modelling through precise constraint-based manipulations in an intuitive manner in the VR environment.
The objective of the present study is to develop a design methodology for the large scale heavy duty robot to meet the design requirements of vibration and stress levels in structural components resulting from exposur...
详细信息
ISBN:
(纸本)9781627480000
The objective of the present study is to develop a design methodology for the large scale heavy duty robot to meet the design requirements of vibration and stress levels in structural components resulting from exposure of system modules to LCD (Liquid Crystal Display) processing environments. Vibrations of the component structures significantly influence on the motion accuracy and fatigue damage. To analyze and design a heavy duty robot for LCD transfer, FE and multi-body dynamic simulation techniques have been used. The links of a robot are modeled as flexible bodies using modal coordinates. Nonlinear mechanical properties such as friction, compliance of motors, gears and bearings were considered in the flexible multi-body dynamics model. Various design proposals are investigated to improve structural design performances using the dynamic simulation model. Design sensitivity analyses with respect to vibration and stresses are carried out to search an optimal design. An example of an 8th-Generation LTR (LCD Transfer Robot) is illustrated to demonstrate the proposed methodology. Finally, the results are verified by real experiments including strain measure test and vibration test.
暂无评论