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An dynamic system for real-time obstacle avoidance path planning of redundant robots is constructed in this paper. Firstly, the inter-frame difference method is used to identify the moving target and to calculate the target area, then on the basis of color features and gradient features extracted from the target area, the feature fusion Cam-Shift mean shift algorithm is used to track target, improving...
In order to further improve the operating performance of teleoperation robot system, and give full play to the advantages of augmented reality technology, this paper presents a human-computer interaction method with multi-dimensional information in the teleoperation augmented reality scenario. This method not only synthesizes the information the operator can directly perceive, but also the information...
This paper describes a flexible squirm pipe robot with magnetic wheels for inspecting the inner casing of pipes with complex shaped structures. Due to the special design of its transmission system and mobile mechanism, the peristaltic motion and self-steering in pipe can be realized. The robot can adapt to the pipeline with different diameters by changing its supporting mechanism automatically. All...
In order to meet the special requirements for the robot moving in the pipeline, an innovation robot mechanism which has flexible axle and self-steering device is proposed. Due to the special design of its transmission system and mobile mechanism, the peristaltic motion and self-steering in pipe can be realized. The robot can adapt to the pipeline with different diameters by changing supporting mechanism...
The causes of bearing fault and frequency changes are analyzed. The actual bearing fault signals are analyzed by wavelet and signal noise are reduced by three wavelet thresholding model. Bearing noise reduction effective way is obtained with three wavelet thresholding model comparison, and frequency analysis of signal is made in order to get bearing characteristic value.
This paper studies a fault-tolerant control system designed for a joint module of a light weight space robotic system. Considering the extremely tight constraints on small mass, low power consumption, low volume, stringent cost control, high system reliability, etc, the joint electronics is divided into two layers, central processing layer and peripheral interface layer, using different redundancy...
An omni-directional rolling spherical robot equipped with a high-rate flywheel (BYQ-V) is presented, the gyroscopic effects of high-rate flywheel can further enhance the dynamic stability of the spherical robot. This robot is designed for territory or lunar exploration in the future. The mechanical structure and control system of the robot are given particularly. Using the constrained Lagrangian method,...
A method of constructing and maintaining a grid map using ultrasonic sensors based on Dempster-Shafer evidence theory (D-S evidence theory) is proposed with respect to the problem of unstructured unknown environment exploration and mapping. Mobile robot moving in an environment explores with ultrasonic sensors; D-S evidence theory is used to fuse information; The problem that D-S evidence theory can't...
This paper studies a dual-joint controller for a space modular robotic system. First of all, a dual-joint module of the space modular robotic system is introduced; then, the features of the hardware and software system of the dual-joint controller are described, as well as design details and fault-tolerant mechanism; finally, the performance specifications of the dual-joint control system are also...
In this paper, an omni-directional rolling spherical robot with telescopic manipulator (BYQ-IV) is presented. This robot is designed for territory or lunar exploration. It not only has features like straight line motion, circular motion, zero turning radius and obstacle avoidance, but also is able to accomplish tasks such as stably grabbing and delivering assemblies. The structure of the whole robot...
In this paper, active control of space manipulator with flexible-link and flexible-joint was investigated based on the singular perturbation method. Owing to the combined effects of the link and joint flexibilities, the dynamics model of this type of manipulator became more complex and led to a series of unsolved control system. To simplify the design of control system, singular perturbation method...
Augmented reality is a rising Human-Machine interaction technology developed from virtual reality technology. It merges virtual information into real scene seamlessly, rather than replace reality completely. The occlusion relation between virtual object and real objects is of great importance to the reliability of rendered merging scene. Currently, most occlusion processing methods are based on deepness...
Based on ARM processor and FPGA co-processor, kinematics control for a 6-DOF (degree of freedom) space manipulator is realized in this paper. The ARM processor uses AT91FR40162, which mainly takes charge of the tractory planning for the space manipulator. Meanwhile, using the CORDIC (Coordinate Rotation Digital Computer) algorithm, the forward and inverse kinematics computation of the space manipulator...
This paper addressed the adaptive backstepping control of space flexible-joint manipulator with nonlinear friction compensation. LuGre dynamic friction model was adopted to characterize the friction forces and dual state observers were proposed to estimate the internal immeasurable state of LuGre model. Based on the estimated friction state, adaptive laws were designed to identify the unknown model...
This paper studies the kinematics optimization of redundant manipulators. Based on the relationship between self-motion variable and Jacobian null-space vector, a new method for choosing self-motion variable of redundant manipulators is proposed; Using linearization, a unified formulation of kinematics performance criterion is introduced and its analytical form in terms of self-motion variable is...
This paper presents the concept of a general two degrees-of-freedom space module or TODOM. General TODOM is made up of three basic modules: one link module and two revolving modules. The reliability of the TODOM is improved by mutual backup of the control systems of the two revolving modules. Every revolving module corresponds to one degree-of-freedom (DOF). The two axes of the revolving modules can...
Binocular method is always used in the object location of robot, but the matching problem of the control points in the images is not settled perfectly. This paper introduces a method of Real-time positioning with high-precision by single camera based on P3P algorithm. When the camera and the control points were set on specific spatial location, we could get the position of the object. The experiment...
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