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This paper presents a video based control system for a Fanuc M-6iB/2HS articulated robot. The system uses a CMUCam3 video camera connected to PC. The industrial robot is controlled via the TCP/IP protocol using a custom simulation software created in previous researches for the industrial robot. The simulation software implements additional classes designed to control and monitor the video camera...
The classification of electromiographic signals provides a method to identify one's intent or movement. This paper presents a study on choosing the best model for a classifier used to group electromiographic signals into classes corresponding to the isometric flexion effort of different fingers. The signals were collected from the Flexor Digitorum Superficialis and Profundus of seven healthy subjects...
This paper presents a portable 3D graphical simulator for a Fanuc M-6iB/2HS articulated robot. The mechanical structure is modeled using OpenGL functions implemented in Qt Framework. The robot motions are simulated based on the direct and inverse kinematics equations also presented in this paper. The simulator features include quick motion, step-by-step simulation, 3D scene control functions, objects...
Myolectric control is nowadays the most used approach for electrically-powered upper limb prostheses. The myoelectric controllers use electromyographic (EMG) signals as inputs. These signals can be collected from the skin surface using surface EMG sensors, or intramuscular, using needle sensors. No matter which method is used, they have to be processed before being used as controller inputs. In this...
This paper proposes two algorithms for controlling the motion and generating the trajectory of a 3D simulated 6-DOF industrial robot. The accelerated motion equations are applied for each of the robot joints. The experiments consist in trajectory generation based on the graphical frames redraw time and the influence of the zoom function in the OpenGL scene during motion simulation.
Most electrically powered upper limb prostheses are myoelectrically controlled. The myoelectric controllers use surface electromyographical signals as inputs. These signals, collected from the surface of the skin, have to be preprocessed before being used as inputs for the controller. In this paper we present a classifier for surface electromyographical signals based on an autoregressive (AR) model...
The implementation of sliding mode control (SMC) for small DC motors is detailed in this paper. Short discussion on sliding mode control theory is made over the case of DC motor modeled under assumptions of load torque as uncertainty. The practical implementation uses the MSP430F2012 controller facilities. Under these considerations, the main result is the fast control loop very efficient for a wide...
Rapid changes on the goods market take place today. These changes require an increased flexibility of the production systems in order to quickly adapt the manufacturing system to a new model of product. However, increasing the flexibility usually also increases the complexity of the system, and therefore the costs per part produced. The challenge is to develop control strategies capable to increase...
We presents some preliminary results of the ongoing research with the final goal of building an autonomous mobile robot. To achieve this scope the mapping problem is an ineluctable one. This paper presents a visual mapping system which detects the same Speeded Up Robust Features (SURF) on the stereo pair images in order to obtain three dimensional point clouds at every robot location. The algorithm...
This paper presents a Visual C++ and OpenGL application for 3D simulation of the serial industrial robots. To develop this application we started from the forward kinematics of the robot taken into consideration. The functions implemented in the source code are able to calculate the position and orientation of each robot joint, including the position and orientation of the robot gripper. With the...
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