检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and Biomimetics

作者： Masato Yoneyama Shugen Ma Shigeo Hirose Department of Robotics Ritsumeikan University Shiga Japan School of Electrical Engineering and Automation Tianjin University China HiBot Corp Tokyo Japan

ISBN: (纸本)9781479973989

Authors developed a novel type of cable reel named “Unicorn Reel (UR)” for mobile robots working in hostile environments that utilize a cable for communications and power supply. Authors introduced a pipe-elected reel configuration for the UR to receive the cable from all directions, and a new type of level winder consisting of passively swing lever to lead the cable from the pipe to the reel. Although it is simple in mechanism, authors could show by the basic experiments that it realizes good level winding feature. Authors made the UR hermetic and introduced pressurized air to prevent contamination of the reel.

关键词： Windings Springs Shafts Robots Pulleys Mechanical cables Power generation

来源：评论

学校读者我要写书评

暂无评论

Predictive control for a class of nonholonomic constrained mechanical systems with input delay

Predictive control for a class of nonholonomic constrained m...

引用

World Congress on Intelligent Control and automation (WCICA)

作者： Zhong-Liang Tang Shuzhi Sam Ge Wei He Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu School of Automation Engineering Robotics Institute Chengdu

In this paper, we consider a class of nonholonomic constrained mechanical systems with time delay in the control input. A reduced dynamic system is firstly derived from original Euler-Lagrange mechanical systems, and then based on the new system, model-based predictive controllers are developed to compensate for the input delay. By the construction of Lyapunov-Krasovskii functionals and Lyapunov direct method, the proposed controllers guarantee that all the signals in the closed-loop system achieve the semiglobally uniformly ultimately boundedness and system outputs converge to an adjustable neighborhood of the given bounded desired trajectory. Simulation results illustrate the validity and performance of the proposed control design.

关键词： Delays Robot kinematics Vectors Delay effects Mechanical systems Educational institutions

来源：评论

学校读者我要写书评

暂无评论

The oscillatory behavior, static and dynamic analyses of a micro/nano gyroscope considering geometric nonlinearities and intermolecular forces

引用

Acta Mechanica Sinica 2013年第6期29卷 851-863页

作者： M.Mojahedi M.T.Ahmadian K.Firoozbakhsh School of Mechanical Engineering Sharif University of Technology Center of Excellence in Design Robotics and AutomationDepartment of Mechanical EngineeringSharif University of Technology

The nonlinear dynamic and static deflection of a micro/nano gyroscope under DC voltages and base rotation are investigated. The gyroscope undertakes two cou- pled bending motions along the drive and sense directions and subjected to electrostatic actuations and intermolecular forces. The nonlinear governing equations of motion for the system with the effect of electrostatic force, intermolecular tractions and base rotation are derived using extended Hamilton principle. Under constant voltage, the gyroscope finds the preformed shape. First, the deflection of the rnicro/nano gyroscope under electrostatic forces is obtained by static and dynamic analyses. Furthermore, the static and dynamic in- stability of the system are investigated. Afterward the oscillatory behavior of the pre-deformed micro/nano gyroscope around equilibrium is studied. The effects of intermolecular and nonlinear parameters on the static and dynamic de- flection, natural frequencies and instability of the micro/nano gyroscope are studied. The presented model can be used to exactly determine static and the dynamic behavior of vibratory micro/nano gyroscopes.

关键词： Nano-structures Microstructures Static dynamic

来源：评论

学校读者我要写书评

暂无评论

Case-based reasoning for energy consumption analysis in steel process

引用

Information Technology Journal 2013年第24期12卷 8391-8397页

作者： Cai, Hongxia Yu, Tingling Dai, Mingyu Shanghai Key Laboratory of Mechanical Automation and Robotics School of Mechatronics Engineering and Automation Shanghai University Shanghai China

Energy conservation is more and more important in the iron and steel industry. We propose a method on Case-based reasoning to analyze energy consumption during the steel processes. The innovation of the proposed method lies in the combination of CBR and equal-dimension new information. We select the highly interpretive, discriminative and predictive attributes among the different processes and assign the weights to those non-linear factors according to the importance from the investigation. The similarity is calculated on the basis of the knowledge-based repository. We use the equal-dimension new information to enhance the real-time and effectiveness of case library, so that, we can shorten the time of ergodic case library and improve the efficiency of retrieval. Given a similarity baseline, the production process and energy conservation proposal could be referred. A real-world example verifies the proposed method is effective for energy conservation in the iron and steel industry. © 2013 Asian Network for Scientific Information.

关键词： Energy conservation

来源：评论

学校读者我要写书评

暂无评论

Robotic Trajectory Planning Based on CL Data

Robotic Trajectory Planning Based on CL Data

引用

IEEE International Conference on robotics and Biomimetics

作者： Guoqiang Zeng Chin-Yin Chen Dishan Huang Yingdan Zhu Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo Zhejiang 315201 China Institute of Advanced Manufacturing Technology Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo Zhejiang 315201 China School of Mechatronic Engineering and Automation Shanghai University Shanghai 200072 China

ISBN: (纸本)9781467396769

It is crucial to plan trajectory in robotic finishing with complex surface in manufacturing industry. While traditional robot programming for grinding is still time consuming and not cost-effective generally. This paper focuses on automatic trajectory planning based on the cutter location (CL) data generated in CAD/CAM system. It not only explores a suitable way to convert the G code which obtained from CL data to robot programming directly through Visual Studio, but also automatically extract motion data from G code and generate the KUKA robot paths/programs in PC. In addition, simulation of robot's kinematics models are implemented in MATLAB to verify the robot reachability. An experiment in Unigrahics, MATLAB and real robot illustrates the grinding trajectory composed of CL data is appropriated.

关键词： programming grinding consuming

来源：评论

学校读者我要写书评

暂无评论

Parameter optimization of controllable local degree of freedom for reducing vibration of flexible manipulator

引用

Chinese Journal of Aeronautics 2013年第2期26卷 487-494页

作者： Bian Yushu Gao Zhihui School of Mechanical Engineering and Automation Beihang University State Key Laboratory for Robotics and System (HIT) Harbin Institute of Technology

Parameter optimization of the controllable local degree of freedom is studied for reducing vibration of the flexible manipulator at the lowest possible cost. The controllable local degrees of freedom are suggested and introduced to the topological structure of the flexible manipulator, and used as an effective way to alleviate vibration through dynamic coupling. Parameters introduced by the controllable local degrees of freedom are analyzed and their influences on vibration reduction are investigated. A strategy to optimize these parameters is put forward and the corresponding optimization method is suggested based on Particle Swarm Optimization （PSO）. Simulations are conducted and results of case studies confirm that the proposed optimization method is effective in reducing vibration of the flexible manipulator at the lowest possible cost.

关键词： Degrees of freedom Flexible manipulators Optimization Particle Swarm Optimization Vibration control

来源：评论

学校读者我要写书评

暂无评论

Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

引用

15th Annual Conference on Advances in Autonomous robotics Systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

来源：评论

学校读者我要写书评

暂无评论

Vibration control design for a flexible string with input saturation

Vibration control design for a flexible string with input sa...

引用

World Congress on Intelligent Control and automation (WCICA)

作者： Wei He Chen Sun Shuzhi Sam Ge Robotics Institute and School of Automation Engineering University of Electronic Science and Technology of China Chengdu China Department of Electrical & Computer Engineering National University of Singapore Singapore Singapore

In this paper, we consider the vibration control problem of a flexible string system in the presence of input saturation. The dynamics of the string system are represented by the coupled partial differential equation (PDE) and ordinary differential equation (ODE). In order to suppress the transverse vibration of the flexible string system, boundary control is proposed by introducing a well-defined integral Lyapunov function. An auxiliary system is introduced to handle the effect of input saturation, and the proof for the existence and the uniqueness of the solution of the closed-loop system is presented. The exponential stability is achieved through rigorous analysis without any simplification of the dynamics. The results are illustrated with numerical simulations for verifying the control performance.

关键词： Vibrations Closed loop systems Boundary conditions Equations Stability analysis Educational institutions

来源：评论

学校读者我要写书评

暂无评论

Research on the voice control and its audio signal processing in flexible manufacturing cell

引用

Sensors and Transducers 2013年第SPEC.12期25卷 91-97页

作者： Jing, Li Ting, Xu Nanyan, Shen Shanghai Key Laboratory of Mechanical Automation and Robotics School of Mechatronics Engineering and Automation Shanghai University 200072 Shanghai China

On the voice development platform of Microsoft Speech SDK, speech recognition and speech synthesis modules based on command control mode is built in this paper. Ethernet-based remote voice control system of intelligent flexible manufacturing cell is developed for machine tools and industrial robots. This paper designs an intelligent voice control system based on LabVIEW development environment, which realizes the human-machine voice interaction of flexible manufacturing cell and remote voice control. Audio signal processing is also designed in this paper based on MATLAB platform which largely reduces the effects caused by environmental noises. The mixing programming of LABVIEW and MATLAB can realize audio signal acquisition and processing easily and finally achieve reliable speech recognition system. Experimental studies have shown that intelligent voice control system has high speech recognition rate and system reliability both in quiet and adverse environments. © 2013 IFSA.

关键词： Cells

来源：评论

学校读者我要写书评

暂无评论

Corrigendum to a Low-Cost, Light-Weight Climbing Robot for Inspection of Glass Curtains

引用

International Journal of Advanced Robotic Systems 2015年第3期12卷

作者： Ran Liang Meteb Altaf Eball Ahmad Rong Liu Ke Wang Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China National Robotics & Intelligent Systems center King AbdulAziz City for Science and Technology Saudi Arabia Riyadh Saudi Arabia Arts et Métiers ParisTech Design Manufacturing and Control Laboratory (LCFC) Paris France

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：