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Singularity Analysis of Planar Cable-Driven Parallel Robots 平面缆索驱动并联机器人奇异性分析
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681507
Xiumin Diao, O. Ma, Qi Lu
{"title":"Singularity Analysis of Planar Cable-Driven Parallel Robots","authors":"Xiumin Diao, O. Ma, Qi Lu","doi":"10.1109/RAMECH.2008.4681507","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681507","url":null,"abstract":"It is well known that parallel robots may have singular configurations that can result in a loss of full control the mechanisms. This paper analyzes two different categories of singularities of planar cable-driven parallel robots with four or more cables. The unidirectional constraint of cables makes the singularity analysis of cable-driven parallel robots different from that of rigid-link parallel robots even if they have similar kinematical architectures. Based on their natures, singularities of cable-driven parallel robots are classified into two categories: the Jacobian singularity and the force-closure singularity. A Jacobian singularity occurs when the Jacobian matrix of a cable-driven parallel robot loses its full rank. Based on rank analysis of Jacobian matrix, a group of Jacobian singularities is reported with mathematical proof. When the Jacobian matrix of a cable-driven parallel robot has a full rank, the cables' inability to generate tension will lead to force-closure singularities, which can always happen to fully-constrained cable-driven parallel robots. An algorithm of identifying force-closure singularities of planar cable-driven parallel robots is proposed. Understanding of the natures of singularities is important for the design and control of cable-driven parallel robots.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"55 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":"127173289","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: 21
The optimization of an autonomous real-time process using curve fitting signature signal 基于曲线拟合特征信号的自主实时过程优化
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681480
M. Klingajay, Sirisorn Mitranon
{"title":"The optimization of an autonomous real-time process using curve fitting signature signal","authors":"M. Klingajay, Sirisorn Mitranon","doi":"10.1109/RAMECH.2008.4681480","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681480","url":null,"abstract":"The thread fastening operations have been used for decades with the purpose of joining one component to another. Its tasks are popular because they permit easy to disassembly for maintenance, relocation and recycling. The threaded fastening process is typically carried out manually since it is very difficult problem to automate. As a result, there is very little published research on automating threaded fastenings. This paper investigates the problem of automated monitoring on the screw insertion process. The monitoring problem deals with predicting integrity of a threaded insertion, based on the torque vs. insertion depth curve generated during the insertions. The authors have developed an analytical model to predict the torque signature signals during self-tapping screw fastening. The proposed strategy is integrated with the automating threaded assembly system. The monitoring task needs to be identified and fitted the required signal from the online and optimization process. Its results are shown with up-to five insertion stages can be identified over three different fasteners.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"74 9 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":"130431664","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: 1
Uncalibrated Visual Servoing Using More Precise Model 使用更精确模型的非校准视觉伺服
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681521
Qingshan Fu, Zhisheng Zhang, Jinfei Shi
{"title":"Uncalibrated Visual Servoing Using More Precise Model","authors":"Qingshan Fu, Zhisheng Zhang, Jinfei Shi","doi":"10.1109/RAMECH.2008.4681521","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681521","url":null,"abstract":"A visual servoing method using a more precise model is presented in this paper. It uses a secant to approximate the second order term in the Hessian of the Newton model. This is different from the popular so-called quasi-Newton uncalibrated visual servoing method, which neglects the second order term directly. Its performance is superior to the so-called quasi-Newton uncalibrated visual servoing method, especially in large residual cases. To guarantee the global convergence of this method, a trust region method is used. Besides, a recursive least squares algorithm is employed to estimate the coupled image Jacobian, so it is not necessary to know the parameters of the camera and the robot. More than that, an approach to improving the control precision of the end-effector in the workspace is also proposed. In the end, a three-degree-of-freedom robot with two fixed cameras system is simulated to validate the method. The simulation results demonstrate the effectiveness of the method.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"26 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":"131864283","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: 8
A Group Behavior Model of Real-time Crowds in Virtual Environments 虚拟环境中实时人群的群体行为模型
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681409
Yugang Liu, Leiting Chen
{"title":"A Group Behavior Model of Real-time Crowds in Virtual Environments","authors":"Yugang Liu, Leiting Chen","doi":"10.1109/RAMECH.2008.4681409","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681409","url":null,"abstract":"We present a real-time crowded model in virtual environments. In our model, we simulate the group behavior of huge crowds in real-time. Considering the limitation of computing speed, we adopt a hierarchical management model and construct the movement area in virtual environment by a dynamical potential field. The improved leader-follower structure yields realistic group behavior comparatively. Combination of global planning and local collision avoidance in a optimize framework solves the problems in motion of large crowds without effective collision avoidance. The test results illuminates that the smooth motion of every individual can be simulated on interactive rate in a mainstream microcomputer.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"25 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":"131882865","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: 3
On-Line Diagnosis of Discrete-Event Systems: A Hierarchical Approach 离散事件系统的在线诊断:一种分层方法
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681372
Xiangfu Zhao, D. Ouyang
{"title":"On-Line Diagnosis of Discrete-Event Systems: A Hierarchical Approach","authors":"Xiangfu Zhao, D. Ouyang","doi":"10.1109/RAMECH.2008.4681372","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681372","url":null,"abstract":"Hierarchy is a remedy way to reduce the demanding complexity of model-based diagnosis. In this paper, an approach to diagnosis of discrete-event systems in a hierarchical way is proposed, inspired by the concept \"D-holon\" and the concept \"Silent Closure\" presented in the literatures recently. Each extended silent closure can be seen as a special type of D-holons, called SCL-D-holon. Every hierarchical level is an SCL-D-holon built off line. When on line diagnosing a discrete-event system, only related SCL-D-holons will be called instead of all the SCL-D-holons generally, thus the space complexity is reduced. In comparison to on line creating silent closures, the efficiency is improved as well.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"29 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":"132961653","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
H∞ and Mixed H2/H∞ Control of Dual-Actuator Hard Disk Drive via LMIs 基于lmi的双驱动器硬盘H∞及混合H2/H∞控制
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681396
N. M. Zadeh, R. Amirifar
{"title":"H∞ and Mixed H2/H∞ Control of Dual-Actuator Hard Disk Drive via LMIs","authors":"N. M. Zadeh, R. Amirifar","doi":"10.1109/RAMECH.2008.4681396","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681396","url":null,"abstract":"In this paper, H<sub>infin</sub> and mixed H<sub>2</sub>/H<sub>infin</sub> controllers are designed for a hard disk drive (HDD) using linear matrix inequalities (LMIs). In the proposed algorithm, the problem of minimizing track misregistration (TMR) in the presence of unmodeled dynamics of voice-coil motor (VCM) is formulated as robust H<sub>infin</sub> and mixed H<sub>2</sub>/H<sub>infin</sub> problems. Additional stack variables are introduced to characterize H<sub>2</sub> and H<sub>infin</sub> performances. The simulation and comparison results demonstrate the significant performance improvement of TMR under unmodeled dynamics of VCM.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"86 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":"133261800","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
Sensor Fusion for Intuitive Robot Programming 面向直观机器人编程的传感器融合
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681489
T. Ng, L. S. Wong, Guilin Yang
{"title":"Sensor Fusion for Intuitive Robot Programming","authors":"T. Ng, L. S. Wong, Guilin Yang","doi":"10.1109/RAMECH.2008.4681489","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681489","url":null,"abstract":"Fusion of information from multiple sensors can greatly enhance the performance of human-machine interaction, especially in the intuitive robot programming. The methods aim to allow rapid teaching of robotic tasks in a safe and efficient manner. The techniques can reduce the setup time of a robotic system. This is crucial for SMEs (Small and Medium Enterprise) where the products in the manufacturing area are in small lot size but with high batch mix. The objective of this research is to fuse the information from a range sensor and a camera. An unique method using the surface constraint has been adopted for the calibration of the sensor fusion system. By taking the surface normal of a calibration board as the common feature, the transformation between the two coordinate systems can be formulated. The end result is a fused scene with both range and texture (color in this case) information. The range information will be used for the path generation for robotic tasks. On the other hand, the images captured by the camera together with the graphical user interface provide an user friendly interface platform for the user. As the two images have been fused, the operator can program a path for a robot to execute by 'point-and-click' on the user interface screen. Experimental results have shown that the new method of robot programming, with sensor fusion information, has improved the robotic teaching process by at least 90% as compared to the manual programming method using teaching pendant.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"25 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":"133832580","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
Variable Structure Control for Parameter Uncertain Stochastic Systems with Time-Varying Delay 参数不确定时变时滞随机系统的变结构控制
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681341
Hailong Xing, Wenjie Zhao, Donghai Li
{"title":"Variable Structure Control for Parameter Uncertain Stochastic Systems with Time-Varying Delay","authors":"Hailong Xing, Wenjie Zhao, Donghai Li","doi":"10.1109/RAMECH.2008.4681341","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681341","url":null,"abstract":"In this paper, the variable structure control problem for a class of uncertain stochastic systems with time-varying delay is investigated. A new concept of the subordinated reachable property of the sliding motion is introduced. The variable structure control law is then proposed to ensure that the sliding motion is subordinated reachable. And a sufficient condition for mean square asymptotical stability of the sliding motion is given. A numerical example is presented to demonstrate the effectiveness of the obtained results.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"17 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":"122495606","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: 1
A Novel Embedded Numerical Control System Based on Resources Sharing 一种基于资源共享的嵌入式数控系统
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681397
Zude Zhou, Benyuan Chen, QUAN LIU
{"title":"A Novel Embedded Numerical Control System Based on Resources Sharing","authors":"Zude Zhou, Benyuan Chen, QUAN LIU","doi":"10.1109/RAMECH.2008.4681397","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681397","url":null,"abstract":"New requirements for current network numerical control (NC) were discussed. The authors put forward a new kind of embedded NC system based on resources sharing. In this system, embedded controllers connected by field buses composed the basic NC unit. These units connected to an embedded NC service system providing abundant functions and higher processing abilities through networks to acquire the integrated function in NC processing. Remote NC operating and monitoring can be achieved by remote control terminals connected to the embedded NC service system. Also the system can connect to the enterprise or global manufacturing networks to become one of the online processing units. Then, the paper introduced both the hardware and software of each module of the system in detail. Both the three-dimensional scrolling display effect of the processing trace and the solid figure display effect of the processing work piece acquired at the remote control terminal were shown at last. The results indicate that the system can perform well in the network numerical manufacturing environment.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"23 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":"128020785","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
Near-Optimal Trajectory Planning of a Spherical Mobile Robot for Environment Exploration 环境探测球形移动机器人的近最优轨迹规划
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681380
Q. Zhan, Yao Cai, Zengbo Liu
{"title":"Near-Optimal Trajectory Planning of a Spherical Mobile Robot for Environment Exploration","authors":"Q. Zhan, Yao Cai, Zengbo Liu","doi":"10.1109/RAMECH.2008.4681380","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681380","url":null,"abstract":"Spherical mobile robot has the characteristics of compact structure and agile motion and is promising to be used in unmanned environment. Designed for environment exploration, a spherical mobile robot BHQ-2 was briefly introduced. The kinematic equation of BHQ-2 was established and its controllability was proved with controllable Lie algebra. Based on the Ritz approximation theory, the near-optimal trajectory of BHQ-2 was planned with the Gauss-Newton algorithm. Simulation results and experimental results of the spherical mobile robot to plan trajectory with the method were presented.","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":"128834733","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: 30
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