In this paper, a novel method for robotic belt grinding based on support vector machine and particle swarm optimization algorithm is presented. Firstly, the dynamic model of the robotic belt grinding process is built ...
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In this paper, a novel method for robotic belt gri nding based on support vector machine and particle swarm optimization algorithm is presented. Firstly, the dynamic model of the robotic belt grinding process is ...
详细信息
ISBN:
(纸本)9781424472796
In this paper, a novel method for robotic belt gri nding based on support vector machine and particle swarm optimization algorithm is presented. Firstly, the dynamic model of the robotic belt grinding process is built using support vector machine method. This is the basis of our work because the dynamic model shows the relation between the removal and control parameters (contact force and robot's speed) of robot. Secondly, the method of reverse solution of the dynamic model is introduced. According to this method, control parameters of robot can be accurately calculated by the given value of removal. Finally, the PSO algorithm is introduced to get smooth and stable trajectories of the control parameters, because the trajectory jitter of the control parameters has a great influence on the grinding accuracy. The experiment results show that the novel method for robotic belt grinding performs well in the control of the robot parameters and the grinding accuracy is improved.
In this paper, a novel method for robotic belt grinding based on support vector machine and particle swarm optimization algorithm is presented. Firstly, the dynamic model of the robotic belt grinding process is built ...
详细信息
ISBN:
(纸本)9781424493197
In this paper, a novel method for robotic belt grinding based on support vector machine and particle swarm optimization algorithm is presented. Firstly, the dynamic model of the robotic belt grinding process is built using support vector machine method. This is the basis of our work because the dynamic model shows the relation between the removal and control parameters (contact force and robot's speed) of robot. Secondly, the method of reverse solution of the dynamic model is introduced. According to this method, control parameters of robot can be accurately calculated by the given value of removal. Thirdly, the standard PSO algorithm is introduced to get smooth and stable trajectories of the control parameters, because the trajectory jitter of the control parameters has a great influence on the grinding accuracy. Finally, a variation on the traditional PSO algorithm is presented, which is called the cooperative particle swarm optimizer, or CPSO, employing cooperative behavior to significantly improve the performance of the original algorithm. The experiment results show that the novel method for robotic belt grinding performs well in the control of the robot parameters and the grinding accuracy and efficiency is improved.
robotic belt grinding system has good prospect to release hand-grinder from their dirty and noisy working environment. However, as a kind of non-rigid processing system, it is a challenge to model its processes precis...
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ISBN:
(纸本)9781424457014
robotic belt grinding system has good prospect to release hand-grinder from their dirty and noisy working environment. However, as a kind of non-rigid processing system, it is a challenge to model its processes precisely for free-form surface because its performance is unstable due to a variety of factors, such as belt wear and belt replacement. In order to adapt to the variability, an adaptive modeling approach based on echo state network (ESN) is presented, whose major idea is to exhaust information from new data by using sliding window technique to select training samples. With machine learning paradigm this approach is more flexible than traditional ones which often base on formula and experimental curves. Experimental results of grinding turbine blades demonstrate this approach is workable and effective.
This paper presents a novel 6-dof cable-driven parallel robot driven by eight cables and raises the method of designing the 6-dof configuration of the robot. As the basis, the static equilibrium model of the robot is ...
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ISBN:
(纸本)9781424447749
This paper presents a novel 6-dof cable-driven parallel robot driven by eight cables and raises the method of designing the 6-dof configuration of the robot. As the basis, the static equilibrium model of the robot is obtained. Based on the achievements of predecessors, the wrench closure workspace (WCW) of the robot is analyzed, and the steps of analyze the translational and rotational WCW are presented. Through the translational WCW analysis of the robot, it reveals the relationship between the dimensions of the cable-driven robot and the translational WCW, which provides a guide to design the cable-driven robot oriented to workspace requirements.
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