Papers by Keyword: Robot

Paper TitlePage

Authors: Vladimír Baláž
Abstract: Digital photogrammetry is a method, which is still seeking for its place in creating 3D models in engineering practice. To digitize and create 3D models using this method we need a digital camera and for processing images of objects photogrammetric software and PC.
174
Authors: Ming Hua Luo, Chun Wei Pan, Xiu Wen Yang, Xin Hua Luo
Abstract: This paper proposed a new grasping method for robot fingers with three-axis force sensors. When a robot hand with two fingers is grasping an object, such as an egg, two closed loops with negative feedback in force-control system are start. When grasping force of the two fingers are equal reference force, dynamic balance is reached. Once tiny sliding between egg and finger occurred, force feedback start immediately, dynamic balance is reached again. In this way, our robot hand can firmly grasps eggs, even if vibration added on the robot hand.
175
Authors: Xiao Ping Zhang, Wan Chun Yan, Wei Zhu, Tao Wen
Abstract: This paper represents the design of a robot end effector which is supposed to be a tool of measuring the orientation accuracy and repeatability. The motivations and ideas of this testing tool are stated, firstly. Then, its structure parameters are specified and the testing accuracy is computed by mean of analyzing the manufacturing errors and structure stiffness which are measured and simulated by Carl Zeiss CMM and Abaqus, respectively. Moreover, the orientation accuracy and repeatability of Kunshan No.1 and KUKA L16 are tested in terms of ISO 9283 standard using this testing tool and API Tracker3. Finally, the results are analyzed and compared which show that the design of this testing end effector is competent with a high cost-effective ratio.
382
Authors: Jun Wei Zhao, Tian Cheng Zhang, Guo Qiang Chen, Yan Qin Li
Abstract: Combining with some research achievements in remote control of robot at home and abroad, this paper analyzes general principle of it and designs a remote control system for robot. The system can be realized through network, and it utilizes browser/server mode and applies CGI program which is written in VB. Through the CGI program, the communication between server and browser is realized. Not only does the design describe the control process, but also it defines a scheme of the remote control system which determines integrated structure. Besides, a user interface which includes user permissions and function modules is developed. Finally, a preliminary control test for system is taken and the performance of the system is analyzed.
1160
Authors: Du Kun Ding, Long Gen Li, Cun Xi Xie, Tie Zhang
Abstract: In this paper, a DNA-PID controller is proposed for a 6-DOF robot. The experimental robot system has firstly been setup. Then the PID controllers of the robot joints are designed. Due to DNA algorithm’s excellent computing characteristics, it is researched and used to set the PID parameters on line, which are the proportional coefficient, the integral coefficient and the differential coefficient. To test the controllers, several experiments are performed. The computer simulation results show that the DNA-PID controllers have faster respond speed and less overshot, which can meet the need of robot control
109
Authors: Vladimir Popov
Abstract: Different problems of robot learning and planning have received considerable attention, recently. In particular, we can mention robot task learning. Robot learning from demonstration is especially important for robots that operate in unstructured environments. The effectiveness of such learning depends strongly on the quality of vision-based analysis of human hand and body gestures. In this paper, we consider a method of recognition of human hand and body gestures that based on a modified longest common subsequence algorithm with adaptive parameters.
233
Authors: Ming Xin Yuan, Pan Pan Zhang, Han Yang Li, Shuai Cheng, Yi Shen
Abstract: To solve the mobile robot path planning in uncertain environments, a new path planning algorithm is presented on the basis of the biological immune network. The environment surrounding the robot is taken as the antigen, and the behavior strategy of robot is taken as the antibody. The selection model of antibody concentration is defined based on the Jernes idiotypic immune network hypothesis, and the mobile robot path planning is realized through the selection of the antibody concentration. The simulation of path planning for mobile robot in multi-obstacle environments shows that the robot can find a safe path in complicated environments, which verifies the better adaptivity of proposed planning model. The simulation in dynamic environments shows that the robot can safely avoid all dynamic obstacles, which verifies the better flexility of new algorithm.
757
Authors: Huai Qiang Li, Ming Xia Shi
Abstract: This paper presents a new method of robot path planning which is based on improved adaptive genetic algorithm. On the foundation of building the model in planning space by link-graph, we first gets the feasible paths by using Ford algorithms ,and then adjusts the points of every path by using improved adaptive genetic algorithms to get the best or better path. The simulation experiment shows the advancement of the method.
590
Authors: Horst Meier, O. Dewald, Jian Zhang
Abstract: This paper describes a new sheet metal forming process for the production of sheet metal components for limited-lot productions and prototypes. The kinematic based generation of the shape is implemented by means of a new forming machine comprising of two industrial robots. Compared to conventional sheet metal forming machines this newly developed sheet metal forming process offers a high geometrical form flexibility and also shows comparatively small deformation forces for high deformation degrees. The principle of the procedure is based on flexible shaping by means of a freely programmable path-synchronous movement of the two robots. The sheet metal components manufactured in first attempts are simple geometries like truncated pyramids and cones as well as spherical cups. Among other things the forming results could be improved by an adjustment of the movement strategy, a variation of individual process parameters and geometric modifications of the tools. Apart from a measurement of the form deviations of the sheet metal with a Coordinate Measurement Machine rasterised and deformed sheet metals were used for deformation analyses. In order to be able to use the potential of this process, a goal-oriented process design is as necessary as specific process knowledge. In order to achieve process stability and safety the essential process parameters and the process boundaries have to be determined.
465
Authors: Meng Yao, Bao Ling Han, Qing Sheng Luo, Ting Qiang Lv, Jia Xu
Abstract: A new method of teaching method has been proposed for the palletizing robot. The principle of the method has been elaborated and a new algorithm about this method has been proposed. The servo control system is used to carry out this method. The practicability and conciseness of this method has also been analyzed through the simulation with soft Admas and real experiments. The results of simulation and real experiments prove that this novel method is feasible and can meet the practically industrial demands.
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