检索结果-内蒙古大学图书馆

International Symposium on Power Electronics, Electrical Drives, automation and Motion, SPEEDAM

作者： J.M. Rosario O. F. Avilés R. Kuteken L. F. Melo UNICAMP - Laboratory of Automation and Robotics Campinas SP Brazil UEL - State University of Londrina Londrina PR Brazil UMNG - Universidad Militar Nueva Granada Bogota Colombia

The following work presents the followed methodology for development a low cost Virtual Based Anthropomorphic Gripper application for automation Grasping Tasks of common object geometries in a robotics work-cell environment containing a 6 DOF Industrial Robot and an Anthropomorphic hand based device attached to it. In order to comply the low cost development requirement, a set of parameters are defined so the programming and editing of the virtual environment is within this scope. Next, the study of the human hand, the mechanical hand and its kinematics allows the recreation of virtual objects resembling their behavior and visual looks. By studying human grasp postures it can be seen that each finger has a position from which a grasping table can be created, this information also works for an anthropomorphic gripper as they share similar anatomy. From that study three basic shapes are chosen to test the application, a spherical, cylindrical and planar ones, these are available on the graphic user interface, so it can be executed on the desire virtual device. For testing purposes, a real anthropomorphic device is virtualized and from the virtual grasps performed, an information file is created for been executed on the workcell The developed application allows the virtualization of a six to nineteen degrees of freedom either using commercial or open source 3D modeling software, initial applications are on offline grasp task planning. The program execution is operating system independent, which makes it portable as well of the creation and edition of 3D geometries. Future work can be for training and educational purposes and the research expanded for improving the grasping technique using supervisory systems and shape recognition.

关键词： Thumb Three-dimensional displays Geometry Service robots Software

来源：评论

学校读者我要写书评

暂无评论

Actuator selection of CNC machine tool based in dynamical modeling and control

Actuator selection of CNC machine tool based in dynamical mo...

引用

International Symposium on Power Electronics, Electrical Drives, automation and Motion, SPEEDAM

作者： J. M. Rosario L. K. Rincon D. Kubiak D. Dumur L. F. Melo UNICAMP - Laboratory of Automation and Robotics Camninas SP Brazil Department of Automatic Control Plateau du Moulon Gif-sur-Yvctte France UEL - State University of Londrina Londrina PR Brazil

CNC (Computer Numerical Control) machine tools are devices of high precision milling largely employed due to their high precision and to allow simultaneous positioning and velocity control of each machine's axis. The main objective of this paper is to develop a virtual environment to realize a comparative study between two types of actuation systems (stepper motor and DC motor) focusing on implementation complexity and on the final result quality of each alternative.

关键词： DC motors Trajectory Computer numerical control Permanent magnet motors Machine tools Torque Fasteners

来源：评论

学校读者我要写书评

暂无评论

Conception of Wheeled Mobile Robots with Reconfigurable Control using Integrate Prototyping

Conception of Wheeled Mobile Robots with Reconfigurable Cont...

引用

IEEE Conference on robotics, automation and Mechatronics

作者： J.M. Rosario R. Pegoraro H. Ferasoli D. Dumur Laboratory of Automation and Robotics State University of Campinas-UNICAMP Sao Paulo Brazil Laboratory of Automation and Robotics UNESP Sao Paulo Brazil Department of Automatic Control Supelec Gif-sur-Yvette France

With the fast innovation of the hardware and software technologies using rapid prototyping devices, with application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This paper presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing proposal oriented to embed systems implementation. Software and the hardware are structuralized in independents blocks, with connection through common bus. The study and applications of new structures control that permits good performance in relation to the parameter variations. This kind of controller can be tested on different platform representing the wheeled mobile robots using reprogrammable logic components (FPGA)

关键词： Mobile robots Robot control Prototypes Software prototyping Application software Automatic control Hardware Logic testing Technological innovation robotics and automation

来源：评论

学校读者我要写书评

暂无评论

An integrated environment for the modeling and simulation of mechatronics devices

An integrated environment for the modeling and simulation of...

引用

International Workshop on Advanced Motion Control (AMC)

作者： J.M. Rosario D. Dumur Laboratory of Automation and Robotics State University of Campinas-UNICAMP Campinas Brazil Automatic Control Department SUPELEC Gif-sur-Yvette France

One of the most common sources of performance limitation in the control of mechatronic systems is associated to the coupling dynamics of the different degrees of freedom, induced by the elasticity in some components. Indeed, in industrial environments, they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. These procedures require the use of flexible robots which can act in a large workspace, thus subject to important parameters variations. The design of the control system should guarantee a damped behavior of the load position, both in the set point response and in the rejection of the disturbances arising from the joints operation. This paper presents an application of generalized predictive control (GPC) to a robot trajectory control using an integrated virtual environment for the modeling and simulation of mechatronics devices

关键词： Mechatronics Control systems Predictive models Elasticity Electrical equipment industry Production Service robots Predictive control Trajectory Robot control

来源：评论

学校读者我要写书评

暂无评论

Analysis of fractional - Order robot axis dynamics

Analysis of fractional - Order robot axis dynamics

引用

作者： Rosario, J.M. Dumur, D. Tenreiro Machado, J.A. Laboratory of Automation and Robotics Faculty of Mechanical Engineering UNICAMP - University of Campinas 13083-970 - Campinas- SP Brazil Department of Automatic Control SUPELEC 91192 - Gif-sur-Yvette France Department of Electrical Engineering Institute of Engineering Polytechnic Institute of Porto 4200-072 Porto Portugal

ISBN: (纸本)9783902661128

Robots are complex mechatronics systems where several electric drives are employed to control the movement of articulated structures. In industrial environments they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. These procedures require the use of flexible robots which can act in a large workspace, thus subjected to important parameters variations and nonlinear dynamics effects. This paper investigates the fractional order dynamics during the evolution of trajectories of three robotic joints, considering the complete system dynamics. Copyright © 2006 IFAC.

关键词： Calculations

来源：评论

学校读者我要写书评

暂无评论

A 3 DOF robotic platform dynamics control using rapid prototyping tools

A 3 DOF robotic platform dynamics control using rapid protot...

引用

International Symposium on Power Electronics, Electrical Drives, automation and Motion, SPEEDAM

作者： J.M. Rosario E.R. Cassemiro D. Dumur Laboratory of Automation and Robotics State University of Campinas-UNICAMP Sao Paulo Brazil Department of Automatic Control SUPELEC Gif-sur-Yvette France

As the main aim for mechatronics engineers in the field of industrial robotic is basically to enhance velocity and accuracy of the treated structure, more and more powerful systems for the design and optimization process are developed. Indeed, in industrial environments, they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. The rapid control prototyping is executed with simulation programs (mechanical and electronics devices) embedded in the real time environment. The design of the control system should guarantee a damped behavior of the load position, both in the set point response and in the rejection of the disturbances arising from the joints operation. This paper presents an application of predictive control laws to a robot trajectory control using an integrated virtual environment for the modeling and simulation of mechatronics devices

关键词： Robot control Prototypes Service robots Mechatronics Electrical equipment industry Predictive models Design engineering Power engineering and energy Process design Design optimization

来源：评论

学校读者我要写书评

暂无评论

Conception of Stewart-Gough platform with reconfigurable control using integrate prototyping

Conception of Stewart-Gough platform with reconfigurable con...

引用

International Symposium on Power Electronics, Electrical Drives, automation and Motion, SPEEDAM

作者： J.M. Rosario E. Oliveira D. Dumur Laboratory of Automation and Robotics DPM-FEM Unicamp Campinas Sao Paulo SP Brazil Automatic Control Department Gif-sur-Yvette France

This paper shows that a hierarchical architecture, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing, enables to take into account the easiness of future modifications, updates and improvements in robotic applications. An experimental example of a Stewart-Gough platform control, platform applied as a solution of countless practical problems, is presented using reconfigurable computing. The developed software and hardware are structured in independent blocks. This open architecture implementation allows an easy expansion of the system and a better adaptation of the platform to its related tasks

关键词： Prototypes Hydraulic actuators robotics and automation Automatic control Leg Vectors Brazil Council Laboratories Robot kinematics Extremities

来源：评论

学校读者我要写书评

暂无评论

ANALYSIS OF FRACTIONAL - ORDER ROBOT AXIS DYNAMICS

引用

IFAC Proceedings Volumes 2006年第11期39卷 367-372页

作者： J.M. Rosario D. Dumur J.A. Tenreiro Machado Laboratory of Automation and Robotics - Faculty of Mechanical Engineering UNICAMP - University of Campinas 13083-970 – Campinas- SP Brazil Department of Automatic Control SUPELEC 91192 - Gif-sur-Yvette France Department of Electrical Engineering Institute of Engineering Polytechnic Institute of Porto 4200-072 Porto Portugal

关键词： Mechatronics robotics Simulation Dynamics Control Fractional calculus

来源：评论

学校读者我要写书评

暂无评论

Proposal of modeling, simulation and implementation of robotics leg prosthesis

Proposal of modeling, simulation and implementation of robot...

引用

Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： H.A. Hermini J.M. Rosario E.R. Cassemiro College of Mechanical Engineering Laboratory of Automation and Robotics Mechanical Design Department State University of Campinas-UNICAMP Campinas Brazil College of Mechanical Engineering LAR-Laboratory of Automation and Robotics Mechanical Design Department UNICAMP-University of Campinas Campinas

This paper presents a proposal of modeling, simulation and implementation of a robotic biped locomotion system. The initial step consists of the determination of the cinematic characteristics and the system performance during walking. Starting from the methodology of the generated kinematics model, several computational programs were elaborated with the purpose of reproducing and managing the space displacement, velocity and acceleration of the articulated system. To validate the developed algorithm, an articulated system prototype of a robotic leg was elaborated in which the developed methodology will be implemented and tested.

关键词： Proposals Legged locomotion Leg Prosthetics Computational modeling Orbital robotics System performance Kinematics Acceleration Prototypes

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：