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In development of industrial robot and field mobile robot, the handling robot of relatively heavy payload uses the weight balancing mechanism to reduce power burden of driving motor. To select a gas spring as the weight balancer, the relationship equations of stroke and reaction force are derived and the real selection examples are given. And also the characteristic experimental results are given.
Operating excavator on the risk surroundings is not safe for human to control on site. Consequently, automatic excavator called Field Robot has been researched to protect the workers from the hazardous environments. The remote excavation system is required to perform in such environments. This paper presents the study on remote control system for the Field Robot and intuitive vision system for user...
In this paper, the energy stability level concept is used for examining the stable state of field robot under effects of swing motion, at some particular postures of manipulator and terrain conditions. The energy stability level is calculated by using the dynamic models of field robot, subject to the concept of equilibrium plane and support boundary. The results are simulated by using Matlab/Simulink...
Hydraulic excavators are among the most versatile earthmoving equipment: these machines are used in civil engineering, hydraulic engineering, grading and landscaping, pipeline construction and mining. Especially, in flattening task, the excavator operator actuates the machine controls (joysticks, pedals and switches) in an organized form to achieve the desired straight motion. The actuation of these...
One of the most important fusion technologies for rearing the main industry of the next generation is mobile robot technology. The domestic and foreign trend of technology and industrials is surveyed analyzed. In this study the smart mobile robot means that it moves and works autonomously for the given jobs without any previous teaching and with several cognition functions. The research and development...
This paper describes a production process of unmanned 3-wheel vehicle. We selected EV's components and specification for the manufacturing of electric vehicles. and We made electric vehicle directly. Typical feature of our EV is method of motor drive. One motor is installed to rear wheel. we need to control at rear wheels. we measured steering angle, motor rpm. and We made program that control wheel...
Nowadays, there have been many researches about 7 DOF robot arm like human arm for better dexterity. Therefore, human-like motion is an important issue for the design and the control of the robot. In the paper, human motion of packing or assembling in the cellular phone manufacturing cell is analyzed to make a proper design of dual arm robot.
Human rights at poor working condition is the severe problem in modern manufacturing system. The industrial dual-arm robot is being developed to meet these social issues fundamentally. The industrial dual-arm robot can assemble the complex product in such way human do. We arm developing the dual-arm robot which has the function of assembly of IT products such as the mobile phone and LCD/LED panel...
This paper presents the device and method to drive handling gripper using multi links mechanism in stepwise. The driving mechanism is related with the driving control bar to be moved. Stepwise driving parts to have driving power are arranged on moving path of driving control bar and driven by releasing the constraint as the driving control bar is approached closely. If the approach of driving control...
Many kinds of robots are used in the solar cell manufacturing line such as cassette handling robot and several substrate handling robots. They are important for the efficiency of the solar cell production line. Especially, a cassette handling robot plays an important role because cassette handling robot travels in the center of the production line and can handle tens of solar cell substrate. Vibration...
This paper presents the device and method to drive handling gripper using multi links mechanism in stepwise. The driving mechanism is related with the driving control bar to be moved. Stepwise driving parts to have driving power are arranged on moving path of driving control bar and driven by releasing the constraint as the driving control bar is approached closely. If the approach of driving control...
The scope of working motion is expressed in the angle of handling tool motion to move in required conditions with carrying a variety of tools such as hammer, grinder and roller. As this scope becomes larger and it is possible to do the handling work in complex shape and narrow block space. The driving axis of working motion is the number of axis of link type to construct the main axis of working assistant...
This paper deals with adaptive sliding mode control of servo systems with system uncertainty such as nonlinear friction. In the case of servo systems, friction phenomenon causes the reduction of tracking performance because friction is directly related with various internal and external environment conditions such as the level of lubricant, contamination, and temperature. Therefore, to overcome the...
We proposed a novel ACO algorithm to solve the global path planning problems in the previous paper, called Heterogeneous ACO (HACO) algorithm. In this paper, we compare the performance of HACO algorithm with the modified Genetic Algorithm (GA) for global path planning. The HACO algorithm differs from the Conventional ACO (CACO) algorithm for the path planning in three respects. First, we proposed...
This paper presents the power assistance system of working habiliment type for painting worker in ship-building. The painting worker carrying several tools such as spray gun, brush and roller should be stayed to do painting job in closed working space or inside internal wall of ship large block and in long time. Specially, the power habiliment system is realized by developing the mechanism and control...
This paper deals with adaptive back-stepping position control system with FNNs(fuzzy neural networks) algorithm for servo system with system uncertainty. The proposed control scheme is induced from the result with the definition of continuative LCF(Lyapunov control functions). In addition, to guarantee the stability problem of the proposed control scheme, the connection weight vector of the FNNs is...
This paper deals with robust steering control of 2-DOF(Degree Of Freedom) bicycle model. 2-DOF bicycle model is specialized model for the steering control of vehicle. When the DOF of real vehicle consider more than 2-DOF, 2-DOF model has many system uncertainties. Therefore, to design the steering controller of vehicle based on 2-DOF model, system uncertainty should be included to the process of controller...
This study presents wearable robotic assistant system of working suit type for worker in field site of construction and ship-building. The worker carrying heavy tools such as hammer, grinder and engine saw should work in closed working space or on top of high wall in large and high structure. The robotic power assistant system is realized by developing mechanism and control technology to reduce the...
This paper addresses a radio-frequency identification (RFID)-based mobile robot localization which adopts RFID tags distributed in a space. Existing stand-alone RFID systems for mobile robot localization are hampered by many uncertainties. Therefore, we propose a novel algorithm that improves the localization by fusing an RFID system with an ultrasonic sensor system. The proposed system partially...
The safety of humans who work with robots is an important issue. Many studies have addressed related methods, but fundamental limits to meet safety requirements have been encountered owing to the absence of compliance in robot actuators. Pneumatic muscle is considered to be a basic actuator and offers the advantage of intrinsic elasticity to achieve joint compliance. In this study, joint compliance...
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