发布求助
文献互助 智能选刊 最新文献

2008 IEEE Conference on Robotics, Automation and Mechatronics最新文献

筛选
英文 中文
A novel spherical joint designed for metamorphic mechanism 一种用于变质机构的新型球面接头设计
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690889
Weihai Chen, Jianbin Zhang, Junjie Quan, Tao Lv
{"title":"A novel spherical joint designed for metamorphic mechanism","authors":"Weihai Chen, Jianbin Zhang, Junjie Quan, Tao Lv","doi":"10.1109/RAMECH.2008.4690889","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690889","url":null,"abstract":"A novel design of passive spherical metamorphic joint is proposed in this paper, the special mechanism of this design allows multi links to be connected together to do spherical motion about a rotation center. The main contribution of the joint design is the offset parallelogram mechanism and a couple door joints, which can overcomes efficiently the inherent defect from the conventional spherical joint design where a spherical joint can only connect two links simultaneously to do the motion. With this novel joint, we construct a kind of special six-bar spherical metamorphic mechanism. It is also explained how to do the configuration analysis, and to find the adjacency matrix of the metamorphic mechanism. According to the characteristic of the joint, some typical applications have been illustrated through parallel and variable geometry truss manipulators","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"245 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115001453","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: 7
Kinematics control of wheeled robot based on angular rate sensors 基于角速率传感器的轮式机器人运动学控制
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690885
Diansheng Chen, Feng Bai, Lin Wu
{"title":"Kinematics control of wheeled robot based on angular rate sensors","authors":"Diansheng Chen, Feng Bai, Lin Wu","doi":"10.1109/RAMECH.2008.4690885","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690885","url":null,"abstract":"To improve the navigation precision of the ground wheeled robot, implement the autonomous kinematics motion control, and overcome the yawing problem when only using an optical encoder, a small-sized, low cost and reusable independent angular rate sensor (gyroscope) module based on iMEMS technique is used. The kinematics model of the robot is explained, and the principle that a robot can move straight based on a gyroscope is proposed. The angular rate is sampled to get the yawing angle of the robot and then it is inputted into a digital PID controller with a dead zone. The incremental speeds of each of the two driving wheels are calculated to attenuate the deviation. Methods for the robot to turn a fixed angle or move along a polygon are also presented. Experiments show that these algorithms have effectively improved the performance the robot moves rather than using time-consuming algorithms or installing bulky and power cost computers.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130088962","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
Adaptive control on wire feeding in robot arc welding system 机器人弧焊系统送丝的自适应控制
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690868
Huabin Chen, T. Lin, Shanben Chen, Jifeng Wang, Jianqiang Jia, H. Zhang
{"title":"Adaptive control on wire feeding in robot arc welding system","authors":"Huabin Chen, T. Lin, Shanben Chen, Jifeng Wang, Jianqiang Jia, H. Zhang","doi":"10.1109/RAMECH.2008.4690868","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690868","url":null,"abstract":"The quality of aluminum alloy welds is determined by the weld formation and penetration. Usually, the quality of traditional TIG welding almost depends on the skilled welder¿s experience rather than theoretical and analytical techniques. At the same time, an industry robot welding system with insufficient feedback control always leads to poor welding quality, especially in manufacturing aluminum structure with mismatching deformation and butt joint gap. In order to enhance welds quality with full penetration, an intelligent control system was developed with a robot system in this paper. A welding pool imaging and processing system, as well as an identification model of the geometrical information of the weld pool, which supplies dynamic response in robotic arc welding process, have been set up. An adaptive controller was also installed, hence, the welding parameters, such as welding peak current and wire feeding rate, can be adjusted in real time with varying welding conditions to obtain sound weld joint. The experimental results show that the real-time and precision requirements for monitoring and control of weld quality could be satisfied by using this on-line control system.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"166 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117254791","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: 10
Virtual engineering: optimal cell layout method for improving productivity for industrial robot 虚拟工程:提高工业机器人生产率的优化单元布局方法
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690870
Dandan Zhang, Liwei Qi
{"title":"Virtual engineering: optimal cell layout method for improving productivity for industrial robot","authors":"Dandan Zhang, Liwei Qi","doi":"10.1109/RAMECH.2008.4690870","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690870","url":null,"abstract":"This paper presents a method to optimize the positions of robot tasks in a robotic work cell in terms of minimum cycle time. In order to improve the efficiency of the overall algorithm, the method is proposed to be decomposed into 3 stages. Firstly, a good position for each task is derived by putting such robot task to a preferred region; secondly, based on the results from the first stage, a switched method is designed to seek the best space sorting of the tasks; with the benefit from these two stages which can reduce the search space greatly in optimization, in the third stage, the positions of all robot tasks are adjusted simultaneously by means of Simulated AnnealingMethod. Several test cases verified the effectiveness of the proposed method","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127657435","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: 5
Utility workspace of 3-5r translational parallel mechanism 3-5r平移并联机构实用工作空间
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690890
M. Tanabe, Y. Takeda, Syamsul Huda
{"title":"Utility workspace of 3-5r translational parallel mechanism","authors":"M. Tanabe, Y. Takeda, Syamsul Huda","doi":"10.1109/RAMECH.2008.4690890","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690890","url":null,"abstract":"In the present paper, we discussed about a kinamatic design of 3-5R translational parallel mechanism with a large utility workspace. We defined the utility workspace as a closed area, from any point to other points in which the mechanism can move without suffering from singularity and workspace boundary. A computational algorithm of the volume of the utility workspace was proposed. We discussed about the utility workspace of 3-5R translational parallel mechanisms having three types of chain with consideration of actuation and constraint singularities. We obtained a 3-RUU translational parallel mechanism with a large utility workspace.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134433454","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: 5
A navigation system for minimally invasive abdominal intervention surgery robot 一种腹部微创介入手术机器人导航系统
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690873
Weiming Zhai, Yannan Zhao, P. Jia
{"title":"A navigation system for minimally invasive abdominal intervention surgery robot","authors":"Weiming Zhai, Yannan Zhao, P. Jia","doi":"10.1109/RAMECH.2008.4690873","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690873","url":null,"abstract":"This paper aims to present a navigation system design for image guided minimal abdominal surgery robot that could compensate for the patient respiratory movement. Currently computer-aided surgery navigation technology has been broadly applied to such fields as orthopedics and neurosurgery, but in the field of interventional surgery, it is still rarely reported. As described in this paper, we introduced a surgery navigation system which can be applied to the interstitial treatment. Multiply technique are used to immobilizing the patient body, making the route plan and tracking the surgery instrument, real-time ultrasound feedback and image registration is also used to enhance the precision of instrument positioning. The goal of this research is to develop a computer-aided surgery navigation system in minimally invasive surgery, and provides solutions to urgent requirements in optical precision positioning, planning and navigation in abdominal surgeries. So that it can fine supporting completion of the surgery operation, improve accuracy and efficiency of the traditional surgical methods, and reduce the suffering of patients from pain.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133378398","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
Research on high-voltage inverter controlling system based on wave algorithm 基于波动算法的高压逆变器控制系统研究
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690888
Jingmeng Liu, Tianmiao Wang, Dong Xu, Lipeng Sun
{"title":"Research on high-voltage inverter controlling system based on wave algorithm","authors":"Jingmeng Liu, Tianmiao Wang, Dong Xu, Lipeng Sun","doi":"10.1109/RAMECH.2008.4690888","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690888","url":null,"abstract":"High-voltage inverter designed in accordance with the principle of voltage serial stacking is adopted and controlling for the high-voltage electric motor with high-power is realized by the method of low-voltage series connection. Besides, distributed control system overcomes the shortcomings of traditional controlling system, such as bad reliability and difficulty in maintenance. Using ARM processor as the central controlling system can reduce the system cost; using DSP processor as the controlling unit can make the controlling method more flexible and also can gain more preciseness. The experiment in the principle of voltage serial stacking verifies that the method of voltage serial stacking is correct. What¿s more, AC asynchronous motor hauling experiment, adopting the method of low-voltage simulating high-voltage, verifies that the idea of voltage serial stacking and distributed control system based on the field bus are correct and realizes the function of the system.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114290563","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
Virtual engineering: challenges and solutions for intuitive offline programming for industrial robot 虚拟工程:工业机器人直观离线编程的挑战与解决方案
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690871
Liwei Qi, X. Yin, Haipeng Wang, Li Tao
{"title":"Virtual engineering: challenges and solutions for intuitive offline programming for industrial robot","authors":"Liwei Qi, X. Yin, Haipeng Wang, Li Tao","doi":"10.1109/RAMECH.2008.4690871","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690871","url":null,"abstract":"It¿s currently the market trend to make industrial robot easy to use. This paper analyzed the key areas and identified key bottlenecks that stop a robot simulation and offline programming tool to be intuitive and easy to use. The key areas are geometrical model handling, robot targets and paths handling, path configuration planning, etc. Based on the analysis, the solutions for each of the identified key areas were provided from easy of use perspective. The proposed solution has been implemented as a software product based on RobotStudio, ABB¿s simulation and offline programming tool.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132899332","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: 16
A new asynchronous parallel load flow calculation algorithm 一种新的异步并行潮流计算算法
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690869
Shengtao Fan, Xiaqing Li, Li Zuo, Yunhua Li
{"title":"A new asynchronous parallel load flow calculation algorithm","authors":"Shengtao Fan, Xiaqing Li, Li Zuo, Yunhua Li","doi":"10.1109/RAMECH.2008.4690869","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690869","url":null,"abstract":"A new asynchronous parallel load flow calculation algorithm is presented, and an improved algorithm is also advanced based on the analyzing of the basic algorithm. In order to verify the validation, the IEEE-30 and IEEE-57 systems are used, the results indicate that the basic algorithm can obtain the load flow of electrical power networks and the improved algorithm can improve the convergence and convergence rate of the exterior iterations. Moreover, the Ward equivalent taking the unbalance power distribution into account is used to further implement the asynchronous parallel calculation of dynamic load flow.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121145103","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: 2
Robotic soft servo for industrial high precision assembly 用于工业高精度装配的机器人软伺服
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690877
Heping Chen, Jianjun Wang, George Zhang, T. Fuhlbrigge, Sönke Kock
{"title":"Robotic soft servo for industrial high precision assembly","authors":"Heping Chen, Jianjun Wang, George Zhang, T. Fuhlbrigge, Sönke Kock","doi":"10.1109/RAMECH.2008.4690877","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690877","url":null,"abstract":"Industrial robots can be made compliant to the environment when the control loop gains are reduced, creating a so-called ¿soft servo¿ capability. This allows industrial robots to be used for assemblies with limited contact requirements. In this paper, we propose an assembly method using soft servo to perform certain assembly tasks where part location errors typically require the use of force control or Remote Center of Compliance (RCC) methods. A typical industrial application, valve body assembly, was used to validate the developed method. This assembly was chosen because it is simple, yet requires compliance in all directions. Lab experiments were performed and the assembly operations were consistently successful enough to show that the developed soft servo strategy can perform certain assembly tasks with small part location errors. Therefore, the soft servo strategy may open a new door for low cost industrial assembly.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126797576","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: 7
下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信