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检索条件"机构=School of Robotics and Automation Engineering"

共 2468 条记录，以下是2351-2360 订阅

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Sizing a serial chain to fit a task trajectory using Clifford algebra exponentials

Sizing a serial chain to fit a task trajectory using Cliffor...

引用

2005 IEEE International Conference on robotics and automation

作者： Perez, Alba McCarthy, J. Michael School of Engineering Idaho State University Pocatello ID 83209 United States Robotics and Automation Laboratory University of California Irvine Irvine CA 92697 United States

ISBN: (纸本)078038914X

In this paper we formulate the "generalized inverse kinematics problem" for a spatial serial chain, where the goal is to determine values for structural parameters as well as for the joint parameters. The kinematics equations of the chain are formulated first using matrix exponentials and then cast into a form based on exponentials in a Clifford algebra. These equations contain the coordinates of the joint axes explicitly and have a systematic structure that can be exploited in their solution. As an example we fit a seven degree-of-freedom CCS chain to a 12 position task trajectory. In this problem, we can also specify desired values for the first two joint angles, and compute the structural parameters and the remaining joint angles. © 2005 IEEE.

关键词： Inverse kinematics

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Development of an Automatic Packaging System for Waveguides

Development of an Automatic Packaging System for Waveguides

引用

2005国际机械工程与力学会议

作者： Daihong CHAO Rong LIU Guanghua ZONG School of Mechanical Engineering & Automation Institute of RoboticsBeihang University

In recent years, due to the increased demands for MOEMS (micro -optical -mechanical -electrical -systems) in telecommunications, automatically assembling equipments for such devices are receiving special attentions from both research and industrial communities. Waveguide-to-waveguide alignment is one of the most important techniques to achieve high quality fiber-optical components. Conventional alignment methods may bring in some problems such as low yields, poor quality, etc.. It is of great importance to develop a system that can package waveguides fully automatically. An automatic packaging system for waveguides (APSW) is presented , which can fulfil the aims of packaging various waveguides via a high resolution stereo vision system combined with a micro light power servo system. Aspects related to motion positioning system, high resolution stereo vision system, micro light power servo system, bonding system, etc. are discussed respectively. Finally, alignment experiments were performed to test the performance of APSW and thus verify the feasibility of APSW.

关键词： macro-micro system, waveguide packaging, stereo vision servo, hill-climbing method

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Haptic interface of mobile robot with delay time via internet

Haptic interface of mobile robot with delay time via interne...

引用

International Conference on Machine Learning and Cybernetics, ICMLC 2005

作者： Wang, Chao Zhang, Xin-Ting Sun, Hong-Jun Meng, Qing-Hao Schilling, Klause School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China Informatics VII Robotics and Telematics Julius-Maximilians-University AM Hubland 97074 Würzburg Germany

ISBN: (纸本)078039092X

The haptic interface enables an operator to feel remote environment via Internet. However there is uncertain delay time via Internet, the feedback information can't be gotten by the haptic interface in time. The speed of the sampling and calculation in the interface device is faster than the speed of the information feedback from the remote robot. So it is difficult for an operator to feel the force in the remote robot quickly and correctly via Internet. In this paper, A calculation method of the feedback force is proposed in order to implement the fast response of the haptic interface. The simulation results are given to show the effectiveness of the proposed method. © 2005 IEEE.

关键词： Haptic interfaces

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Experimental Research on Robotic Fingertip Compliant Tactile Sensor Based on Strain Gauge

Experimental Research on Robotic Fingertip Compliant Tactile...

引用

2005国际机械工程与力学会议

作者： Shijie DAI Guoxiang ZHOU Congqing LI Hong YUE Zhanqun SHI Research Institute of Robotics and Automation HeBei University of Technology Manchester School of Engineering The University of Manchester

For the uniform and homogeneous rod gripped by robots in gravitational field, a kind of compliant tactile sensor was designed. In order to investigate the performance of the sensor, a robot's parallel gripper was designed and manufactured. Meanwhile, the experimental control system of the 8098 single chip microprocessor was designed and the corresponding software was compiled. The sensor was installed on a robot's parallel gripper. The length, the line density, the mass and the grip position of the object can be measured respectively by using this kind of sensor. The objects gripped can be classified according to one of the parameters stated above. In addition, by judging the length and the gripping position, the robot can grip the centre of the object. Therefore, the grip stability is improved.

关键词： Robot, Tactile sensor, Parallel gripper, Grip experiment, 8098 single chip microprocessor

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Study on turn motion of child rovers of a reconfigurable planetary rover system

Study on turn motion of child rovers of a reconfigurable pla...

引用

作者： He, Xinyuan Ma, Shugen Li, Bin Wang, Yuechao Wang, Minghui Hirose, Shigeo Kawakami, Atsushi Motomura, Kazuhiro Robotics Laboratory Shenyang Institute of Automation 110016 Shenyang China Graduate School Chinese Academy of Sciences 100039 Beijing China Faculty of Engineering Ibaraki University 316-8511 Hitachi Japan Faculty of Engineering Tokyo Institute of Technology 152-8552 Tokyo Japan

ISBN: (纸本)0780389123

A Reconfigurable Planetary Rovor System (RPRS) is presented, including the Parent body and some Child robots. The Child robot composed with the arm part and the wheel part has two moving modes: locomotion mode and manipulation mode. According to the mechanical characteristics, we proposed the two methods for the motion planning of swerving locomotion. The results of experiments showed that the robot can achieve turn during locomotion by adjusting the arm's attitude. But the Child robot's radius of left-hand turning motion during locomotion is bigger much than the radius of right-hand turning motion during locomotion and the effect is no obvious. The method of spot turning is presented by use of the difference between radial frictional force and tangential frictional force of ground and direction wheel, which is important for robot to autonomous locomotion. © 2005 IEEE.

关键词： Motion planning

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Lateral motion control of electrostatic comb drive: New methods in modeling and sensing

Lateral motion control of electrostatic comb drive: New meth...

引用

16th IASTED International Conference on Modelling and Simulation

作者： Borovic, B. Liu, A.Q. Popa, D. Xuming, Z. Lewis, F.L. Automation and Robotics Research Institute 7300 J. Newell Blvd. S. Fort Worth TX 76118 United States Nanyang Technological University School of Electrical and Electronic Engineering Nanyang Avenue Singapore 639798 Singapore

A new sensing method is presented for control of lateral instability in micro-electromechanical (MEMS) electrostatic comb drives. Two degrees-of-freedom modeling of a tiny (2mm × 2mm) comb drive is given. A structure of the dynamical model in both axial and lateral direction has been developed analytically for the purpose of confronting the problem of lateral instability. The mechanical part of the model is given and an emphasis is placed on its input and output parts, e.g. generation and distribution of both actuating and parasitic forces, and the sensitivity of the displacement sensors. The optimal sensitivity of a special capacitive position sensor is calculated with respect to limited area available for the sensor. Finally, the influence of the measurement electronics on sensitivity of the sensor and the influence of a finite aspect ratio of the Deep-Reactive-Ion-Etching (DRIE) fabrication on the capacitive structures are analyzed. This analysis lays the foundation for more effective control of future comb drive actuators.

关键词： Motion control

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Cutting force model of dental training system

Cutting force model of dental training system

引用

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Guanyang Liu Yuru Zhang D. Wang J. Hao P. Lu Y. Wang Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China Research Centre of Engineering & Technology for Dental Computing School of Stomatology Peking University Beijing China

This paper presents a cutting force model for dental training system with haptic display capability. The force model is proposed by theoretic analysis of the cutting force between dental tools and tooth. A damping matrix is developed for obtaining a unified formulation for all components of cutting forces. All factors that affect the cutting force are considered in the model by including a number of parameters. These parameters are identified by tooth-cut experiments, which measure the cutting force with a six-dimensional force sensor. A prototype system of haptic simulation is developed to test the model. Dentists performing virtual operation on the system have confirmed the realistic sense of cutting force.

关键词： Dentistry Teeth Haptic interfaces Displays Force sensors Bones Computational modeling robotics and automation Force measurement Humans

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Sizing a Serial Chain to Fit a Task Trajectory Using Clifford Algebra Exponentials

Sizing a Serial Chain to Fit a Task Trajectory Using Cliffor...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： A. Perez J.M. McCarthy School of Engineering Idaho State University Pocatello ID USA Robotics and Automation Laboratory University of California Irvine Irvine CA USA

In this paper we formulate the “generalized inverse kinematics problem” for a spatial serial chain, where the goal is to determine values for structural parameters as well as for the joint parameters. The kinematics equations of the chain are formulated first using matrix exponentials and then cast into a form based on exponentials in a Clifford algebra. These equations contain the coordinates of the joint axes explicitly and have a systematic structure that can be exploited in their solution. As an example we fit a seven degree-of-freedom CCS chain to a 12 position task trajectory. In this problem, we can also specify desired values for the first two joint angles, and compute the structural parameters and the remaining joint angles.

关键词： Algebra Equations Structural engineering Robot kinematics Manipulators Carbon capture and storage Topology robotics and automation Moon Design optimization

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Analysis of stairs-climbing ability for a tracked reconfigurable modular robot

Analysis of stairs-climbing ability for a tracked reconfigur...

引用

IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Jinguo Liu Yuechao Wang Shugen Ma Bin Li Robotics Laboratory of Chinese Academy of Sciences Shenyang Institute of Automation China Graduate School of Chinese Academy of Sciences Bejing China Robotics Laboratory of Chinese Academy of Sciences Shenyang Institute of Automation (SIA) China Department of Systems Engineering Ibaraki University JAPAN

ISBN: (纸本)078038945x

Stairs-climbing ability is the crucial performance of mobile robot for urban environment mission such as urban search and rescue or urban reconnaissance. The track type mobile mechanism has been widely applied for its advantages such as high stability, easy to control, low terrain pressure, and continuous drive. Stairs-climbing is a complicated process for a tracked mobile robot under kinematics and dynamics constraints. In this paper, the stairs-climbing process has been divided into riser climbing, riser crossing, and nose line climbing. During each climbing process, robot's mobility has been analyzed for its kinematics and dynamics factor. The track velocity and acceleration's influences on riser climbing have been analyzed. And the semiempirical design method of the track grouser and the module length has been provided in riser crossing and nose line climbing correspondingly. Finally, stairs-climbing experiments have been made on the two-module robot in line type, and three-module robot in line type and in triangle type respectively.

关键词： Mobile robots robotics and automation Kinematics Vehicle dynamics Nose Medical robotics Wheels Stability Pressure control Safety

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PID neural network control of SUT building energy management system

PID neural network control of SUT building energy management...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： M. Fardadi A.S. Ghafari S.K. Hannani Center of Excellence in Energy Conversion School of Mechanical Engineering Sharif University of Technology Tehran Iran Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran

PID neural network controller design for Sharif University of Technology (SUT) building energy management system (BEMS) is addressed in this paper. The most important characteristics of process systems are time delay with model uncertainties. Artificial neural networks can perform adaptive controller properties through learning processes. PID neural network has the advantage of both conventional PID controllers and the neural structure. Simulation results using modified Hooke-Jeeves optimization method show that this controller has short convergence time and quick learning speed and the performance of the closed loop system is very good

关键词： Three-term control Neural networks Control systems Energy management Artificial neural networks Buildings Delay effects Uncertainty Adaptive systems Programmable control

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