Model identification and control of a single-link, very flexible manipulator is carried out. The objective is first to find the transfer functions relating the tip position to the motor position and the motor position...
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Model identification and control of a single-link, very flexible manipulator is carried out. The objective is first to find the transfer functions relating the tip position to the motor position and the motor position to the motor current, and then to use the transfer functions to control the tip position of the manipulator. Because of the nonlinearities introduced by the static friction of the motor and due to very low damping of the manipulator, classical frequency-domain techniques cannot be used to find the transfer functions, so a novel method is proposed. A set of experiments has been performed, and transfer functions which fit this data have been obtained. The control scheme contains an inner loop for the motor position and an outer loop for the tip position. For the outside loop, feedforward control and the computed torque techniques are evaluated.< >
Due to demographical factors, there will be a 25% decline in the national labor pool of eligible 17 to 21 year old men by 1992. As the Navy faces fierce competition with other services and private industry for the dwi...
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Due to demographical factors, there will be a 25% decline in the national labor pool of eligible 17 to 21 year old men by 1992. As the Navy faces fierce competition with other services and private industry for the dwindling personnel resources of the nation, efforts must be made to consider automating certain tasks, especially those that are hazardous, boring, and labor intensive onboard ships at sea. The Surface Ship Continuing Concept Formulation (CONFORM) Program (SEA-5014) sponsored the Naval Surface Weapons center's robotics Laboratory to identify potential applications of robotic and artificial intelligence systems to operation and mission activities for shipboard use. The results of the investigation concerning applications of robotics to automate the aforementioned tasks are presented. Changes in current manning levels for selected tasks and ship classes, i.e., CVs, CVNs, LPDs, LPNs, and auxiliaries are examined. Future ship designs incorporating robotics, such as the advance based repair (ABR) ship are discussed. Twenty-four applications were cited in the study which include a remote controlled vehicle for flight deck operations, limited tasks in biological, chemical, and radiation environments, computer aided command decision aids, ordnance handling, undersea search, recovery, and salvage, and ventilation duct cleaning. Four of the applications and their subsequent hardware fruition will be discussed.
In this paper the full recursive forms of the discrete Fourier, Hadamard, Paley and Walsh transforms are developed. The algebraic properties and computational complexity of the GFT are investigated on the basis of a t...
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This paper describes a Distributed Control Architecture for an autonomous mobile robot. We start by characterizing the Conceptual Levels into which the various problem-solving activities of a mobile robot can be class...
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Mobile robotic devices hold great promise for a variety of applications in industry. A key step in the design of a mobile robot is to determine the navigation method for mobility control. The purpose of this paper is ...
Mobile robotic devices hold great promise for a variety of applications in industry. A key step in the design of a mobile robot is to determine the navigation method for mobility control. The purpose of this paper is to describe a new algorithm for omnidirectional vision navigation. A prototype omnidirectional vision system and the implementation of the navigation techniques using this modern sensor and an advanced automatic image processor is described. The significance of this work is in the development of a new and novel approach—dynamic omnidirectional vision for mobile robots and autonomous guided vehicles.
A novel, set-operations rather than geometry-oriented, solid geometrical modeler is proposed. The modeler is based upon the representation of objects by switching functions and thus is capable to perform the set (Bool...
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A novel, set-operations rather than geometry-oriented, solid geometrical modeler is proposed. The modeler is based upon the representation of objects by switching functions and thus is capable to perform the set (Boolean) operations very efficiently. The graphical support and communication with the real world are provided via the extended three-dimensional Karnaugh map.
Grinding theory is now sufficiently advanced that a logical basis exists for controlling and optimizing the grinding process. In this paper, a review is presented covering various aspects of grinding theory and their ...
Kinematics of spatial manipulating systems can be deeply understood and effectively solved introducing structural considerations. The concept of kinematic equation of motion and its canonical form, introduced by the a...
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Kinematics of spatial manipulating systems can be deeply understood and effectively solved introducing structural considerations. The concept of kinematic equation of motion and its canonical form, introduced by the authors, is further developed using moving coordinates and the components of the ‘absolute’ and generalized coordinates vectors are discussed in details. The results obtained are based on standard matrix transformations and can be applied to CAD of manipulating systems for industrial robots, articulated mechanisms and prosthetic arms.
th This volume is an edition of the papers selected from the 12 FIRA RoboWorld C- gress, held in Incheon, Korea, August 16–18, 2009. The Federation of International Robosoccer Association (FIRA – www. fira. net) is ...
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ISBN:
(数字)9783642039836
ISBN:
(纸本)9783642039829
th This volume is an edition of the papers selected from the 12 FIRA RoboWorld C- gress, held in Incheon, Korea, August 16–18, 2009. The Federation of International Robosoccer Association (FIRA – www. fira. net) is a non-profit organization, which organizes robotic competitions and meetings around the globe annually. The RoboSoccer competitions started in 1996 and FIRA was - tablished on June 5, 1997. The Robot Soccer competitions are aimed at promoting the spirit of science and technology to the younger generation. The congress is a forum in which to share ideas and future directions of technologies, and to enlarge the human networks in robotics area. The objectives of the FIRA Cup and Congress are to explore the technical dev- opment and achievement in the field of robotics, and provide participants with a robot festival including technical presentations, robot soccer competitions and exhibits - der the theme “Where Theory and Practice Meet. ” th Under the umbrella of the 12 FIRA RoboWorld Congress Incheon 2009, six int- national conferences were held for greater impact and scientific exchange: th • 6 International Conference on Computational Intelligence, robotics and Autonomous Systems (CIRAS) th • 5 International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE) • International Conference on Social robotics (ICSR) • International Conference on Advanced Humanoid robotics Research (ICAHRR) • International Conference on Entertainment robotics (ICER) • Internationalrobotics Education Forum (IREF) This volume consists of selected quality papers from the six conferences.
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