2008 IEEE Conference on Robotics, Automation and Mechatronics最新文献_第5页

Construction Tele-robot System With Virtual Reality 基于虚拟现实的建筑远程机器人系统

2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681331

H. Yamada, Tao Ni, Dingxuan Zhao

{"title":"Construction Tele-robot System With Virtual Reality","authors":"H. Yamada, Tao Ni, Dingxuan Zhao","doi":"10.1109/RAMECH.2008.4681331","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681331","url":null,"abstract":"In this paper, a tele-robotics system for a construction machine is investigated. The system consists of a servo-controlled construction robot, two joysticks for controlling the robot, and a 3-dimensional virtual environment. Computer graphics (CG) of the robot and task objects are presented to the operator in virtual scene as a tool for assisting teleoperation. The operator performs remote operation of the construction robot by manipulating the graphic robot directly in virtual environment using the joysticks. The position and shape of the task objects in virtual world are updated in real time on basis of image information obtained by a stereo camera fixed in remote field. To improve the efficiency as well as security of teleoperation, and overcome the shortcomings (such as time-consuming judgement and mistaken selection of screen to be observed) of conventional three-screens visual display, the methods of auto point of view (APV) and semi-transparent object (STO) are introduced in this paper. Finally, A comparative study of a one-screen visual display combining APV and STO with the conventional three-screens visual display is carried out based on the results of evaluation experiments (task efficiency, risk indexes, questionnaire). These experiments confirmed that one-screen visual display combining APV and STO is superior in operability, safety, and reduction of stress.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125924232","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: 34

Optimized Joint-Torques Trajectory Planning for Bipedal Walking Robots 双足步行机器人关节力矩轨迹优化规划

2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681476

Van-Huan Dau, C. Chew, A. Poo

引用次数: 4

Community Intrusion Detection and Pre-warning System Based on Wireless Mesh Network 基于无线Mesh网络的社区入侵检测预警系统

2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681478

Meijuan Gao, Jingwen Tian, Kai Li, Hao Wu

引用次数: 11

Input Delay Compensation with Digital Redesigned A/D Conversion 输入延迟补偿与数字重新设计的A/D转换

2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681391

Yongpeng Zhang, C. Akujuobi, A. Ajuzie, Chao Xia

引用次数: 3

Material Removal Model and Contact Control of Robotic Gasbag Polishing Technique 机器人气囊抛光技术的材料去除模型及接触控制

2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681492

M. Jin, S. Ji, Li Zhang, Q. Yuan, Xian Zhang, Yindong Zhang

引用次数: 3

A Hybrid Parallel Robot 一种混合并联机器人

2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681455

Huapeng Wu, P. Pessi, H. Handroos

引用次数: 1

Toward a Dynamic Model of Robotic Marionettes 机器人牵线木偶的动态模型

2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681523

K. Nguyen, Kwang Yong Lim, Wei Dong, Y. K. Goh, I. Chen, S. Yeo, H. Duh, Kang Li, Chen Hao Su

引用次数: 2

A Low-Cost Solution For Excavator Simulation With Realistic Visual Effect 具有逼真视觉效果的挖掘机仿真低成本解决方案

2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681325

Tao Ni, Dingxuan Zhao, H. Yamada, Shui Ni

{"title":"A Low-Cost Solution For Excavator Simulation With Realistic Visual Effect","authors":"Tao Ni, Dingxuan Zhao, H. Yamada, Shui Ni","doi":"10.1109/RAMECH.2008.4681325","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681325","url":null,"abstract":"A low-cost excavator simulator has been developed in this paper for training human operators and evaluating control strategies for heavy-duty hydraulic machines. In such a system, the operator controls a virtual excavator by means of a joystick while experiencing realistic operating feelings through force feedback, graphical displays, and sound effects in virtual operating environments. A GPU (graphics processing unit)-based, terrain-rendering methodology is adopted to create a realistic visual appearance of different operation regions on terrain such as excavated areas and dumped soil during the excavator simulation. The kinematic relationships of the excavator's rotary joints are described, and the 3D coordinate of the bucket tip are calculated as the basis of a dynamic interaction between the excavator and the virtual terrain. A simplified mathematical model of the excavator's digging volume is proposed, and a surface of excavated soil is constructed using the Bezier patch and is deformed by manipulating its control points along a pre-defined path so as to provide visually meaningful soil bucket interaction information to the simulator.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130860111","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: 11

Backlash Detection in CNC Machines Based on Experimental Vibration Analysis 基于实验振动分析的数控机床间隙检测

2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681515

S. Moosavian, Ebrahim Mohammadi Asl

{"title":"Backlash Detection in CNC Machines Based on Experimental Vibration Analysis","authors":"S. Moosavian, Ebrahim Mohammadi Asl","doi":"10.1109/RAMECH.2008.4681515","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681515","url":null,"abstract":"Exploiting backlash free mechanisms and gearboxes, the stiffness of servo axes in CNC machines can be improved. In fact, the rigidity of these axes will be increased, so that different types of feedforward control can be implemented. Furthermore, backlash free mechanisms facilitate designing foolproof systems without challenging with the instability and nonlinear behavior of backlash. However, any mechanical failure and looseness causes backlash which in turn may lead to severe vibrations. So, backlash detection and exploiting efficient preventive maintenance (PM) to prevent interrupt in the production line is of interest. In this paper, first a simple model for mechanical system of a CNC servo axis, and its control system will be presented. This reduced order system for speed control will be detailed. Next, the bandwidth of vibration frequencies due to backlash is estimated and behavior of a servo axis with various backlashes is simulated. Then, to encapsulate the role of backlash in different conditions, performance response of five mechanically different axes with different servo gains in various CNC machines are empirically investigated. These experimental frequencies of vibration obtained in completely different CNC machines (small, medium and heavy size) are compared with those estimated. Simulation and experimental results show that the frequency of vibration in a servo axis with backlash is not affected by the value of backlash, while the position control gain dictates this frequency. Finally, an experimental equation will be developed that estimates this frequency for various CNC machines.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131704602","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: 14

Vision-based Fuzzy Coordination Control for Multiple Robots 基于视觉的多机器人模糊协调控制

2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681420

Li Yang, Zhiqiang Cao, M. Tan, Guoping Liu

引用次数: 3