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ASME 1998 Design engineering Technical Conferences, DETC 1998

作者： Tse, David M. Larochelle, Pierre M. Robotics and Spatial Systems Laboratory Mechanical Engineering Program Florida Institute of Technology MelbourneFL32901 United States

ISBN: (纸本)9780791880319

In this paper we present a novel method for motion generation task specification for spherical mechanisms. This is accomplished with a new methodology for determining the optimal design sphere and the orientations on this design sphere for a finite set of desired spatial positions. In addition, we include a modification to the method which enables the designer to require that one of the n desired spatial positions be exactly preserved. The result is that designers can now specify spherical mechanismmotion generation tasks without having to introduce into the design space an artificial design sphere. They are now free to work in unconstrained three-dimensional space. The application of this new task specification technique is discussed in a design case study. © 1998 by ASME.

关键词： Spheres

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CIRCUIT AND BRANCH RECTIFICATION OF THE SPATIAL 4C MECHANISM

CIRCUIT AND BRANCH RECTIFICATION OF THE SPATIAL 4C MECHANISM

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ASME 2000 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2000

作者： Larochelle, Pierre M. Mechanical Engineering Program Robotics and Spatial Systems Laboratory Florida Institute of Technology MelbourneFL32904 United States

ISBN: (纸本)9780791835173

Spatial 4C mechanisms are two degree of freedom kinematic closed-chains consisting of four rigid links simply connected in series by cylindrical(C) joints. In this work we are concerned with the design of spatial 4C mechanisms which move a rigid body through a finite sequence of prescribed locations in space. This task is referred to as rigid-body guidance by Suh and Radcliffe (20) and as motion generation by Erdman and Sandor (6). When 4C mechanisms are synthesized for such a task, for example by utilizing Roth's spatial generalization of Burmester's planar methods (17;18), the result is the physical dimensions which kinematically define the mechanism. However, the motion of the mechanism which takes the work piece through the sequence of prescribed locations in space is not determined. In fact, it may be impossible for the mechanism to move the body through all of the desired locations without disassembling the mechanism. This condition is referred to as a circuit defect. Moreover, in some cases the mechanism may enter a configuration which requires an additional mechanical input to guide the moving body as desired. These are referred to as branch defects. This paper presents a methodology for analyzing spatial 4C mechanisms to eliminate circuit and branch defects in motion generation tasks. Copyright © 2000 by ASME.

关键词： Location

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Decentralized Navigation systems for Bearing-based Position and Velocity Estimation in Tiered Formations

Decentralized Navigation Systems for Bearing-based Position ...

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American Control Conference

作者： David Santos Pedro Batista Institute for Systems and Robotics Laboratory for Robotics and Engineering Systems Portugal

ISBN: (数字)9781538682661

ISBN: (纸本)9781538682678

This paper presents a decentralized navigation system, capable of estimating positions and fluid velocities, for vehicle formations. Some vehicles have access to a measurement of their own position while the others have access to one or more bearing measurements and may have a depth measurement. Local observers with globally exponentially stable error dynamics are designed by obtaining an equivalent observable linear time-varying system using conveniently defined artificial outputs. The local observers rely on local measurements as well as limited communications between the vehicles. The stability of the system as a whole is obtained by studying the robustness of the local observers to exponentially decaying perturbations. Simulation results are presented to show the behaviour and convergence of the proposed solution.

关键词： Navigation systems Speed Estimation vehicle Depth measurement Decentralized Geologic Formations Observers System stability Access estimated position

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Learning graspability of unknown objects via intrinsic motivation 2

Learning graspability of unknown objects via intrinsic motiv...

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2nd International Workshop on Artificial Intelligence and Cognition, AIC 2014

作者： Temel, Ercin Grzyb, Beata J. Sariel, Sanem Artificial Intelligence and Robotics Laboratory Computer Engineering Department Istanbul Technical University Istanbul Turkey Centre for Robotics and Neural Systems Plymouth University Plymouth United Kingdom

Interacting with unknown objects, and learning and producing effective grasping procedures in particular, are challenging problems for robots. This paper proposes an intrinsically motivated reinforcement learning mechanism for learning to grasp uknown objects. The mechanism uses frustration to determine when grasping of an object is not possible. The critical threshold of frustration is dynamically regulated by impulsiveness of the robot. Here, the artificial emotions regulate the learning rate according to the current task and performance of the robot. The proposed mechanism is tested in a real world scenario where the robot, using the grasp pairs generated in simulation, has to learn which objects are graspable. The results shows that the robot equipped with frustration and impulsiveness learns faster than the robot with standard action selection strategies providing some evidence that the use of artificial emotions can improve the learning time. © 2014, International Workshop on Artificial Intelligence and Cognition.

关键词： Reinforcement learning

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Evolutionary path planning and navigation of autonomous underwater vehicles

Evolutionary path planning and navigation of autonomous unde...

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2007 Mediterranean Conference on Control and Automation, MED

作者： Kanakakis, V. Tsourveloudis, N. Technical University of Crete Department of Production Engineering and Management Intelligent Systems and Robotics Laboratory 73100 Chania Crete Greece

ISBN: (纸本)142441282X

This paper presents a complete methodology for mission planning and navigation of Autonomous Underwater Vehicles (AUVs) in ocean environment. Path planning near the ocean floor is accomplished via genetic algorithms and B-Splines based on known data of the ocean floor. In addition, collision free navigation is achieved in unknown environments. Prior to vehicle's launch, a genetic algorithm based on ocean floor data and on mission restrictions calculates the optimal path. Once the path is calculated, the vehicle is navigated through the predefined path by a set of fuzzy controllers. A second evolutionary algorithm optimizes the membership functions of these controllers so as the vehicle has the minimum error through its course. Extensive simulations were performed in order to evaluate the methodology and the derived optimized controller. ©2007 IEEE.

关键词： Navigation

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Control Aspects in Programming by Demonstation for Robotic Deep- Micro- Hole Drilling 32

Control Aspects in Programming by Demonstation for Robotic D...

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32nd Mediterranean Conference on Control and Automation, MED 2024

作者： Maric, Bruno Petric, Frano Orsag, Matko University of Zagreb LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing Zagreb10000 Croatia

ISBN: (纸本)9798350395440

This paper explores control aspects in a collab-orative robotic system designed to replicate human operators' drilling skills in deep- micro- hole tasks, focusing on the glass-container mould industry. To replicate human performance, we develop a single-DOF Impedance-based drill controller for a standard industrial position-controlled robot, enhancing safe and smooth interactions between the drill bit and the mould. To address high feed rates observed in worker demonstrations and prevent bit breaks, we focus on minimizing non-axial motion during drilling on an off-the-shelf available industrial manipulator KUKA KR 10. This involves analyzing the impact of joint dynamics on drill motion and designing a control system for the robot's low-level control to achieve axial drill motion. We show that the proposed joint control system that takes into account relationship between joint and tool dynamics outperforms available robot low-level control in minimizing non-axial motion, leading to the robot being able to outperform the human in deep- micro- hole drilling. © 2024 IEEE.

关键词： Molds

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Structural analysis and design of round belt drive snake-like robot

Structural analysis and design of round belt drive snake-lik...

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IET International Conference on Information Science and Control engineering 2012, ICISCE 2012

作者： Su, Xuandon Gao, Junyao Zhao, Zhengyang Wu, Qianying Huang, Chengzu Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems School of Mechatronical Engineering Nandajie Zhongguancun 100081 China

ISBN: (纸本)9781849196413

Twisting between adjacent modules drive is the main way to drive the snake-like robot. It is hard to build a mathematical model for the kind of snake-like robot and the control of it is very complex in the realistic environment. In purpose of developing a new kind of snake-like robot which is easy to model, a new way to drive snake-like robot which we call skin drive was invented. With this way, structure of snake-like robot can be very simple and easy to model. Besides control of snake-like robot can be simple. Eventually a snake-like robot was built and it is called round belt drive snake-like robot. Through some experiment and analysis, it is concluded that this new kind of snake-like robot is easy to model and easy to control and its structure is simple to build. In this paper, three important topics were analyzed and elaborated. They are round belt analysis and design, active pulley structure and guide pulley arrangement. Of course, some experiments were done to verify the round belt drive snake-like robot performance. Some experiment process and results were shown at the end in this paper.

关键词： Pulleys

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Mobile scanning system for the fast digitization of existing roadways and structures

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Sensor Review 2006年第4期26卷 283-289页

作者： Grinstead, Brad Sukumar, Sreenivas Page, David Koschan, Andreas Gorsich, David Abidi, Mongi A. Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN United States US Army RDECOM Tank-Automotive Research Development and Engineering Center Warren MI United States

Purpose - To present a Mobile Scanning System for digitizing three-dimensional (3D) models of real-world terrain. Design/methodology/approach - A combination of sensors (video, laser range, positioning, orientation) is placed on a mobile platform, which moves past the scene to be digitized. Data fusion from the sensors is performed to construct an accurate 3D model of the target environment. Findings - The developed system can acquire accurate models of real-world environments in real time, at resolutions suitable for a variety of tasks. Originality/value - Treating the individual subsystems of the mobile scanning system independently yields a robust system that can be easily reconfigured on the fly for a variety of scanning scenarios. © Emerald Group Publishing Limited.

关键词： Analog to digital conversion

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Sphinxcam: Computer-aided manufacturing for spherical mechanisms

Sphinxcam: Computer-aided manufacturing for spherical mechan...

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ASME 1998 Design engineering Technical Conferences, DETC 1998

作者： Ketchel, John S. Larochelle, Pierre M. Robotics and Spatial Systems Laboratory Mechanical Engineering Program Florida Institute of Technology MelbourneFL32901 United States

ISBN: (纸本)9780791880319

In this paper we present SPHINXCAM, a computer-aided manufacturing software for spherical four-bar mechanisms. The kinematics of spherical mechanisms are reviewed as they pertain to their manufacture. This is followed by a brief review of some of the current computer-aided design (CAD) software for spherical four-bar mechanisms, e.g. SPHINX, SPHINXPC, and ISIS. These software packages provide the three-dimensional visualization and computational capabilities necessary to design spherical four-bar mechanisms. However, to date no tools exist to aid in the manufacture of spherical mechanisms. SPHINXCAM, when used with the CAD tools mentioned above, facilitates the design, visualization, and manufacture of spherical four-bar mechanisms. © 1998 by ASME.

关键词： Visualization

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Approximate motion synthesis of open and closed chains via parametric constraint manifold fitting: Preliminary results

Approximate motion synthesis of open and closed chains via p...

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2003 ASME Design engineering Technical Conferences and Computers and Information in engineering Conference

作者： Larochelle, Pierre M. Robotics/Spatial Systems Laboratory Department of Mechanical Engineering Florida Institute of Technology Melbourne FL 32901 United States

In this paper we present a novel dyad dimensional synthesis technique for approximate motion synthesis. The methodology utilizes an analytic representation of the dyad's constraint manifold that is parameterized by its dimensional synthesis variables. Nonlinear optimization techniques are then employed to minimize the distance from the dyad's constraint manifold to a finite number of desired locations of the workpiece. The result is an approximate motion dimensional synthesis technique that is applicable to planar, spherical, and spatial dyads. Here, we specifically address the planar RR, spherical RR and spatial CC dyads since these are often found in the kinematic structure of robotic systems and mechanisms. These dyads may be combined serially to form a complex open chain (e.g. a robot) or when connected back to the fixed link they may be joined so as to form one or more closed chains (e.g. a linkage, a parallel mechanism, or a platform). Finally, we present some initial numerical design case studies that demonstrate the utility of the synthesis technique.

关键词： Production engineering

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