Advanced Materials Research Vols. 605-607

Abstract: In this paper, forward and inverse position solution are analyzed for a novel 2UPR/1SPR special 3-DOF parallel mechanism. The moving platform of this mechanism have 1 translational DOF and 2 rotational DOFs. The inverse position solution of this mechanism was deduced by analytical method. The decoupling equation of position and posture parameters are formulated on the basis of structural constraint of the concerned mechanism. The forward position solution of this mechanism is achieved by numerical method.

Abstract: The main objective of this work is to develop a system consisting of Hardware and Software to drive Unmanned Ground Vehicle (UGV). UGVs are robotic platforms that are used as an extension of human capability. This type of robot is generally capable of operating outdoors and over a wide variety of terrain, functioning in place of humans. So it can be used in national defense to perform reconnaissance and strike missions in urban environments, and by civilian teams to conduct search and rescue operations in hazardous terrain. The software system is used to control the UGV through computer from remote place by using satellite; the software gives it the waypoint/path-location. The robotic arm is used to carry spy weapons or to pick objects for the collection of data or to rescue with the help of its own color recognition system. The system is working efficiently as directed with acceptable precision.

Abstract: To obtain better trajectory tracking, a new synchronous control with sliding mode surface is proposed. Based on Kane equation, the dynamics model of a planar 2-DOF redundantly actuated parallel mechanism was formulated. With trajectory contour error, the synchronization error was defined and the sliding surface was determined. After dynamic equation linearization, a robust adaptive sliding mode synchronous controller was designed with stability analysis. After Matlab simulation, figures of tracking errors and synchronization errors changing with time compared with computed torque method were plotted. Results show that the robust adaptive sliding mode synchronous control can be able to achieve good trajectory tracking compared with computed torque controller.

Abstract: Automatic box unfolding and closing mechanisms are the important components of the horizontal type boxing line. The process principle of box unfolding and closing mechanisms was researched based on the production requirement of the boxing line. The structure scheme was brought out, which was mainly composed of box opening mechanism, box unfolding mechanism, posture keeping device, box closing mechanism and sealing device. The composition and working principle of pneumatic control system of the box unfolding and closing mechanisms was analyzed and the pneumatic sequential operation control circuitry with multi-cylinders was simulation designed and debugged by using the software FluidSim. The control system was also constructed of PLC module and its assistant components, whose program was compiled and simulated in the software GX Developer and Simulator. The theoretical basis for researching and developing the packing line was established by proposing the solution and design method of pneumatic control system driving the box unfolding and closing mechanisms.

Abstract: This paper discusses the problem of effective motion planning for industrial robots. The first part dealt with current method for off-line motion planning. In the second part the presented work is done by one of the simulation systems with automatic trajectory generation and off-line programming capability. A spot welding process is involved. The practical application of this step strongly depends on the method for robot path optimization with high accuracy, thus transform the path into a time and energy optimal robot program for the real world, which is discussed in the third step.

Abstract: The paper deals with constructing the inertial navigation system (hereafter INS) which will be utilized for the calibration of a robotic workplace. The calibration is necessary for adapting the simulation of a production device model to real geometric conditions. The goal is to verify experimentally the proposed inertial navigation system in real conditions of the industrial robot operation.

Abstract: This thesis regards TUT-CMDR type coal mine detection robots as the research object and put forward an application of optimized BP neural network based on Quantum Genetic Algorithm in PID Control of motor speed. Transfer function model of speed control system of TUT-CMDR motor was established. Firstly, initial weights and thresholds of BP neural network were optimized by Quantum Genetic Algorithm, and then BP neural network was designed to adjust the parameters of PID on line. Finally, the results show that the algorithm is feasible and superiority.

Abstract: With the dual relationship between parallel mechanism and serial mechanism on the structure and performance characteristics, the emergence of parallel mechanism, expand the areas of application of the robot. In this paper, a survey on the origin, main characteristics, field of application, and theoretical research of parallel manipulators are reviewed. Finally, some important problems of the parallel manipulator are mentioned to be solved.

Abstract: Intelligent vehicle is a preferable way for dealing with transportation problems. In cross-country environments, no apparent roads could be found, instead boscage, bumps and hollows, scattered materials make it hard to choose suitable paths. Path planning is a combinational optimization issue to find out a short path from many candidates. A combinational optimization algorithm was adopted to solve the problem. A multi-scale grid environment modeling mechanism was designed to model the unordered and irregular environment by a standard grid map. Then an ant colony optimization based algorithm was presented for finding out the most suitable path from the map. The algorithm introduced a local optima breaking mechanism based on early convergence judging process to avoid falling into local optima. Three criteria were designed for the process, say criteria of single grid, of static colony and of dynamic convergence. Feasibility and effectiveness of the method were verified by experiments.

Abstract: This paper deals with the tracking controller design of robotic manipulator using genetic algorithm (GA). A genetic fuzzy wavelet neural network (GFWNN) controller is designed and implemented based on MATLAB in this paper, whose parameters are optimized by GA. The structure and algorithm of fuzzy wavelet neural network (FWNN) are described at first. Then the key content of GA used in this paper and the steps for using GA to optimize FWNN are demonstrated. Finally, a numerical simulation of tracking control for 2-link robotic manipulator is given to verify the effectiveness of the proposed method.