简介：Forthepurposeofsolvingoptimalcontrolproblemofawall-crawlingmobilerobotworkingonsphericalcontainers,weproposetheHamel'sformalismforPontryaginMaximumPrinciple,whichgivesageneralframeworkfortheoptimalcontrolofamechanicalsystemwithvelocityconstraints,especiallynonholonomicconstraints.Theeffectivenessoftheproposedframeworkisshownbythesimulationsfortheaboveproblem.

简介：Acertainnumberofconsiderationsshouldbetakenintoaccountinthedynamiccontrolofrobotmanipulatorsashighlycomplexnon-linearsystems.Inthisarticle,weprovideadetailedpresentationofthemechanicalandelectricalimpli-cationsofrobotsequippedwithDCmotoractuators.Thismodeltakesintoaccountallnon-linearaspectsofthesystem.Then,wedevelopcomputationalalgorithmsforoptimalcontrolbasedondynamicprogramming.Therobot’strajectorymustbepredefined,butperformancecriteriaandconstraintsapplyingtothesystemarenotlimitedandwemayadaptthemfreelytotherobotandthetaskbeingstudied.Asanexample,amanipulatorarmwith3degreesoffreedomisanalyzed.

简介：Thispaperdescribesthereplacementofacontrollerforaprogrammableuniversalmachineforassembly(PUMA)512robotwithanewlydesignedPCbased(openarchitecture)controlleremployingareal-timedirectcontrolofsixjoints.TheoriginalstructureofthePUMArobotisretained.Thehardwareofthenewcontrollerincludessuchin-housedesignedpartsaspulsewidthmodulation(PWM)amplifiers,digitalandanalogcontrollers,I/Ocards,signalconditionercards,and16-bitA/DandD/Aboards.AnIntelPentiumIVindustrialcomputerisusedasthecentralcontroller.ThecontrolsoftwareisimplementedusingVC++programminglanguage.Thetrajectorytrackingperformanceofallsixjointsistestedatvaryingvelocities.ExperimentalresultsshowthatitisfeasibletoimplementthesuggestedopenarchitectureplatformforPUMA500seriesrobotsthroughthesoftwareroutinesrunningonaPC.Byassemblingcontrollerfromoff-the-shellhardwareandsoftwarecomponents,thebenefitsofreducedandimprovedrobustnesshavebeenrealized.

简介：Thedynamicsofclassicalroboticsystemsareusuallydescribedbyordinarydifferentialequationsviaselectingaminimumsetofindependentgeneralizedcoordinates.However,differentparameterizationsandtheuseofanonminimumsetof(dependent)generalizedcoordinatescanbeadvantageousinsuchcaseswhenthemodeleddevicecontainsclosedkinematicloopsand/orithasacomplexstructure.Ononehand,theuseofdependentcoordinates,likenaturalcoordinates,leadstoadifferentmathematicalrepresentationwheretheequationsofmotionaregivenintheformofdifferentialalgebraicequations.Ontheotherhand,thecontroldesignofunderactuatedrobotsusuallyreliesonpartialfeedbacklinearizationbasedtechniqueswhichareexclusivelydevelopedforsystemsmodeledbyindependentcoordinates.Inthispaper,weproposeadifferentcontrolalgorithmformulatedbyusingdependentcoordinates.Theappliedcomputedtorquecontrollerisrealizedviaintroducingactuatorconstraintsthatcomplementthekinematicconstraintswhichareusedtodescribethedynamicsoftheinvestigatedserviceroboticsysteminrelativelysimpleandcompactform.TheproposedcontrollerisappliedtothecomputedtorquecontroloftheplanarmodeloftheACROBOTERservicerobot.Thestabilityanalysisofthedigitallycontrolledunderactuatedservicerobotisprovidedasarealparametercasestudyforselectingtheoptimalcontrolgains.

简介：Commercializedcapsule-typeendoscopesmovepassivelybyperistalticwaves(andgravity),whichmakesitdifficultfordoctorstodiagnosetheareasofinterestmorethoroughlyandactively.Toresolvethisproblemofpassivity,itisnecessarytofindaspeciallocomotionprinciple,whichfitsthegastrointestinal(GI)tract.Inthispaper,aleggedlocomotivemechanismwithshapememoryalloy(SMA)actuationbasedontheperistalticprincipleisproposed,andthenthestructureofthelocomotionmechanismisintroduced.Basedonthepreliminaryresults,thedesign,modeling,andfabricationofanSMAmicroactuationconceptforapplicationinanendoscopiccapsulearegiven,aswellastheSMAspringandleggedcomponentdesign,whichisthecoresectionofthesystemdesign.Weusedthepseudo-rigid-bodymodel(PRBM)toanalyzenonlinearandlargedeflectionsoftheSMAleggedcomponent.Thus,aprototypeendoscopewithanSMAspringandsixleggedcomponentswasdesignedandfabricated.Itis15mmindiameterand33mmintotallength,withahollowspacetohouseotherpartsneededforendoscopysuchasacamera,aradiofrequency(RF)module,andsensors.Duringtesting,thelocomotivemechanismwaseffectiveinaplastictubeenvironment.

简介：Inputtorqueisthemainpowertomaintainbipedalwalkingofrobot,andcanbecalculatedfromtrajectoryplanninganddynamicmodelingonbipedrobot.Duringbipedalwalking,theinputtorqueisusuallyrequiredtobeadjustedduetosomeuncertainparametersarisingfromobjectiveorsubjectivefactorsinthedynamicalmodeltomaintainthepre-plannedstabletrajectory.Here,aplanar5-linkbipedrobotisusedasanillustratingexampletoinvestigatetheeffectsofuncertainparametersontheinputtorques.Kine-maticequationsofthebipedrobotarefirstlyestablishedbythethird-ordersplinecurvesbasedonthetrajectoryplanningmethod,andthedynamicmodelingisaccomplishedbytakingboththecertainanduncertainparametersintoaccount.Next,severalevaluationindicesoninputtorquesareintro-ducedtoperformsensitivityanalysisoftheinputtorquewithrespecttotheuncertainparameters.Finally,basedontheMonteCarlosimulation,thevaluesofevaluationindicesoninputtorquesarepresented,fromwhichalltherobotparam-etersareclassifiedintothreecategories,i.e.,stronglysensi-tive,sensitiveandalmostinsensitiveparameters.

简介：一个概括控制器基于不可思议地使不安的系统的稳定性理论被建议，到在机器人轨道追踪处理围住的致动器输入的问题控制。有错误获得矩阵的浸透功能在转矩控制法律被使用，它在任何给定的有限范围保证转矩输入的上面的界限。通过适当地设置错误获得矩阵的条目，追踪的性能能被改进。而且，一个假信号从一个线性过滤器被产生代替实际速度错误，为速度大小消除需要。最后，验证概括控制器的有效性，有error-gain-contained弧正切功能的一个新浸透的控制器被设计。建议控制器能严格地保证转矩的界限得到的比较实验表演与非零处于状况输入起始的追踪错误，并且比另外的控制器给更好的追踪结果。

简介：SLAMisoneofthemostimportantcomponentsinrobotnavigation.ASLAMalgorithmbasedonimagesequencescapturedbyasingledigitalcameraisproposedinthispaper.Bythisalgorithm,SIFTfeaturepointsareselectedandmatchedbetweenimagepairssequentially.Afterthreeimageshavebeencaptured,theenvironment’s3Dmapandthecamera’spositionsareinitializedbasedonmatchedfeaturepointsandintrinsicparametersofthecamera.Arobustmethodisappliedtoestimatethepositionandorientationofthecameraintheforthcomingimages.Finally,arobustadaptivebundleadjustmentalgorithmisadoptedtooptimizetheenvironment’s3Dmapandthecamera’spositionssimultaneously.Resultsofquantitativeandqualitativeexperimentsshowthatouralgorithmcanreconstructtheenvironmentandlocalizethecameraaccuratelyandefficiently.

简介：Toincreasethecompetitionofthesolarenergycollectionsystem,thesizeofthesolarpanelmoduleduringthemanufacturingprocessisbeingincreasedcontinuously.Asthesizeofthesolarpanelincreases,thesizeoftherobottohandlethepanelincreasedalso.Thechangeinscaleoftherobotinevitablyresultsintheamplificationoftheadverseeffectoftheflexure.Themainsourceoftheflexureinthelargescalesolarcellpanelhandlingsystemisthelongandthinforkfingersofthehandandthesolarcellpanel.Inaddition,thebelt-drivenactuatorsystemusedbymostofthelargescalepanelhandlingrobotisanothersignificantsourceofthevibration.Inthispaper,theflexiblemultibodydynamicmodelofalargescalesolarcellpanelhandlingrobot,whichisbeingdesignedandconstructedwiththehelpofKyungHeeUniversity,isdeveloped.Thebelt-drivensystemintherobotisalsomodeledasflexiblesystemandincludedintherobottorepresenttheactualvibrationcharacteristicsoftheactuatorsystem.