Int. J. Robotics Autom.最新文献_第4页

An Accurate and Efficient skew estimation Technique for South Indian Documents: a New boundary Growing and Nearest Neighbor Clustering Based Approach 一种准确高效的南印度文档偏斜估计技术:一种新的基于边界增长和最近邻聚类的方法

Int. J. Robotics Autom. Pub Date : 2007-09-01 DOI: 10.2316/Journal.206.2007.4.206-2992

Manjunath Aradhya, G. Kumar, P. Shivakumara

{"title":"An Accurate and Efficient skew estimation Technique for South Indian Documents: a New boundary Growing and Nearest Neighbor Clustering Based Approach","authors":"Manjunath Aradhya, G. Kumar, P. Shivakumara","doi":"10.2316/Journal.206.2007.4.206-2992","DOIUrl":"https://doi.org/10.2316/Journal.206.2007.4.206-2992","url":null,"abstract":"Skew angle estimation is essential to enhance the accuracy of optical character recognition (OCR) system. In this paper we present a new boundary growing (BG) and nearest neighbor clustering (NNC) to estimate accurate skew angle for the scanned documents. The BG extracts the boundary characters present in each text line of the document and extracts uppermost, lowermost and centroid coordinates of character components of the scanned document image. The NNC helps us in clustering the characters which is presented due to additional modifiers-characters that are usually present in the South Indian scripts. The extracted coordinates are subjected to moments to estimate skew angle of the document image. Several experiments have been conducted on various types of documents such as documents containing South Indian scripts, English documents, journals, textbook, text with picture, text with tables, text with graphs, different languages, noisy images and document with different fonts, documents with different resolutions, to reveal the robustness of the proposed method. The experimental results revealed that the proposed method is accurate compared to the results of well-known existing methods.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129721214","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 12

Integral sliding Mode Control of a bipedal Leap 两足跳跃的积分滑模控制

Int. J. Robotics Autom. Pub Date : 2007-06-01 DOI: 10.2316/Journal.206.2007.3.206-3034

Zengshi Chen

引用次数: 2

Human-robot Interfaces for Social Interaction 社会互动的人机界面

Int. J. Robotics Autom. Pub Date : 2007-06-01 DOI: 10.2316/Journal.206.2007.3.206-2957

A. Khamis, M. Kamel, M. Salichs

引用次数: 6

An Analysis for a Mini robot gripper using SMA Springs 基于SMA弹簧的小型机器人夹持器分析

Int. J. Robotics Autom. Pub Date : 2007-06-01 DOI: 10.2316/Journal.206.2007.3.206-3011

S. Daroogheha, T. Radhakrishnan

{"title":"An Analysis for a Mini robot gripper using SMA Springs","authors":"S. Daroogheha, T. Radhakrishnan","doi":"10.2316/Journal.206.2007.3.206-3011","DOIUrl":"https://doi.org/10.2316/Journal.206.2007.3.206-3011","url":null,"abstract":"The development of a compact and lightweight gripper suitable for a mini mobile robot for field applications poses many challenges. This is because conventional gripper actuation methods may be infeasible due to their size, weight and power requirements. This study focuses on the development of a suitable linkage mechanism for such a mini gripper, using two different actuation methods. The first design investigates the use of shape memory alloy (SMA) springs as a newer method for the gripper actuation. For comparison, the second design is developed using a more conventional, servomotor-based actuation. The design of the SMA springs used in the first gripper, and the kinematic analysis for both gripper designs, are presented. Prototypes of both designs were built and tested, and the results are also shown. Additionally, an accuracy analysis involving the gripper mechanism's tolerances and clearances is developed for both grippers, and a tolerance allocation technique to facilitate such gripper designs is also presented. The study shows that SMA spring actuated grippers hold promise for certain applications and should be considered in the design of mini mobile robot devices.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127004484","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An estimate of the Domain of attraction for the PID regulator of manipulators 机械臂PID调节器的吸引域估计

Int. J. Robotics Autom. Pub Date : 2007-06-01 DOI: 10.2316/Journal.206.2007.3.206-2829

Jose Luis Meza, V. Santibáñez, Ricardo Campa

引用次数: 36

A Modular Algorithm for the Dynamics of Multiple Flexible robots 多柔性机器人动力学的模块化算法

Int. J. Robotics Autom. Pub Date : 2007-06-01 DOI: 10.2316/Journal.206.2007.3.206-2959

C. S. Bonaventura, K. Jablokow, K. Buffinton

引用次数: 0

Application and Comparison of passivity-Based and integrator backstepping Control Methods for trajectory Tracking of Rigid-Link robot manipulators Incorporating Motor Dynamics 基于被动与积分式反步控制方法在含运动动力学的刚杆机器人轨迹跟踪中的应用与比较

Int. J. Robotics Autom. Pub Date : 2007-06-01 DOI: 10.2316/Journal.206.2007.3.206-2922

A. Lotfazar, M. Eghtesad

{"title":"Application and Comparison of passivity-Based and integrator backstepping Control Methods for trajectory Tracking of Rigid-Link robot manipulators Incorporating Motor Dynamics","authors":"A. Lotfazar, M. Eghtesad","doi":"10.2316/Journal.206.2007.3.206-2922","DOIUrl":"https://doi.org/10.2316/Journal.206.2007.3.206-2922","url":null,"abstract":"In this paper, dynamic equations of motion of a rigid-link non-redundant n-DOF robot manipulator consisting of mechanical arms, all with revolute joints and electrical actuators are considered and application of passivity-based and integrator backstepping techniques for trajectory tracking of the robot in presence of disturbance, friction and uncertainty is studied. \u0000 \u0000One of the main advantages of the backstepping control techniques is that they impose desired properties of stability, initially by fixing the candidate Lyapunov functions, then by calculating the storage functions, stabilizing functions and feedback control laws in a recursive way. \u0000 \u0000Simulation results of applying these schemes show the ability of backstepping methods in trajectory tracking in presence of disturbance, friction and parameter uncertainty. Comparison of simulation results of the two backstepping methods shows that passivity based with respect to integrator based method has more smooth control commands and better trajectory tracking by using passivity properties of the robot and by using some weighting matrices in its algorithm.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121632860","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 12

Neuro-Adaptive Compliant force/Motion Control of uncertain Constrained wheeled Mobile manipulators 不确定约束轮式移动机械臂的神经自适应柔性力/运动控制

Int. J. Robotics Autom. Pub Date : 2007-06-01 DOI: 10.2316/Journal.206.2007.3.206-2949

Zhiqiang Li, Chenguang Yang, Jiangong Gu

引用次数: 36

Time-Optimal feedrates along Curved Paths for Cartesian CNC Machines with prescribed Bounds on Axis velocities and Accelerations 具有轴向速度和加速度规定界限的直角数控机床沿曲线路径的时间最优进给速度

Int. J. Robotics Autom. Pub Date : 2007-03-01 DOI: 10.2316/Journal.206.2007.2.206-2896

S. Timar, R. Farouki, Casey L. Boyadjieff

{"title":"Time-Optimal feedrates along Curved Paths for Cartesian CNC Machines with prescribed Bounds on Axis velocities and Accelerations","authors":"S. Timar, R. Farouki, Casey L. Boyadjieff","doi":"10.2316/Journal.206.2007.2.206-2896","DOIUrl":"https://doi.org/10.2316/Journal.206.2007.2.206-2896","url":null,"abstract":"The authors consider the problem of specifying the feedrate variation along a curved path, that yields the minimum traversal time for a multi-axis CNC machine subject to given bounds on the feasible velocity and acceleration along each axis. The torque-speed characteristics of the axis drive motors are first discussed, and are used to determine constraints on the velocity and acceleration for each axis. For a path specified by a polynomial parametric curve r(ξ), it is shown that (the square of) the time-optimal feedrate can be determined as a piecewise-rational function of the curve parameter ξ, with break-points that correspond to the roots of certain polynomials. In general, each feedrate segment is characterized by the saturation of either velocity or acceleration on one machine axis at each instant throughout the motion. The feedrate function admits a real-time interpolator algorithm that can drive the machine from the analytic curve description, eliminating the need for piecewise-linear/circular G code approximations. The theoretical and computational aspects of such time-optimal feedrates are presented, along with experimental results from implementation on a three-axis CNC mill driven by an open-architecture software controller. Compared to prior time-optimal feedrate algorithms (based on acceleration bounds only), the new algorithms give physically valid feedrates at high speeds, where the motor voltage ratings become a limiting factor.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"171 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115847272","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Use of Optimal quasi- velocity Trajectories 最佳准速度轨迹的使用

Int. J. Robotics Autom. Pub Date : 2007-03-01 DOI: 10.2316/Journal.206.2007.2.206-2939

P. Herman

引用次数: 0