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From shoulder to wrist, a person's arm has a total of seven degrees of freedom (DOFs), which is the minimum number of DOF for the robot that needs to avoid obstacles and internal singularity. Compared to the traditional 7-DOF robot, the 7-DOF cable-driven robotic arm (CDRA) similar to human muscles parallel drive mode is the hybrid structure of serial-parallel, which can be seen as a four-link serial...
From shoulder to wrist, a person's arm has a total of seven degrees of freedom (DOFs), which is the minimum number of DOF for the robot that needs to avoid obstacles and internal singularity. Compared to the traditional 7-DOF robot, the 7-DOF cable-driven robotic arm (CDRA) similar to human muscles parallel drive mode is the hybrid structure of serial-parallel, which possesses a number of promising...
To improve the existing small-size actuator for robotics, a control module in actuator was developed. After the control module was fixed in an actuator, the actuator would be capable of speed control, PVT position control and continuous trajectory tracking. Those functions are not supported by the existing actuators. The paper presents the development of control module in actuator. In the procedure...
In this paper, the research object is 3-DOF spherical joint robot driven by four cables, which imitates the motion of people's shoulder joint. The dynamic model of the 3-DOF cable-driven robotic shoulder joint is built by using Lagrange dynamics method so as to obtain the standard form of dynamic equation. Based on backstepping technique, the control law of the system model is designed for the robot...
In this paper, a cable-driven spherical joint with angle feedback is proposed and the geometric numerical inverse kinematic algorithm is analyzed. Based on this, a new online control method is presented. In this method, the actual position of the spherical joint is calculated via inverse kinematics and the control error is compensated immediately. A experimental system with industrial PC (IPC) and...
This paper proposes a scheme for the design, gaits planning and kinematics control of a hexapod robot. The robot is symmetrical structure with six identical legs. Each leg consists of three revolute joints which are actuated by position-controlled servos. The paper focuses on two crucial problems for multi-legged robot control, gaits planning and kinematics solving. Based on tripod gaits, a new turn...
Affected by scanning object, environment, scanning speed and user??s operation .etc, some information of the object??s surface can??t be detected by the laser scanner. Aiming at the data loss in laser detecting , the paper presents an improved BP neural network based on GA for 3D laser data repairing, the novelty of this method is adopting Genetic Algorithm(GA) to optimize the configure and weight...
Calculating the Cartesian coordinate is the first step of image reconstruct based on primitive information from laser scanner. A novel 3D Depth-of-field information collection system in this article is consisted of tow 2D laser scanners and a servo-actuates rotating mirror assembly. The system has a much higher detecting precision than others which drive 2D laser scanner to rotate to get the 3rd dimension...
To improve the load capacity of the manipulator, based on the geometry analysis and screw theory, this paper is focused on the configuration design, cable-driven manner, and kinematics control for a cable-driven 7-DOF manipulator. First, aimed at the choice of cables-driven manners, a cable-driven mechanism that is coupled between elbow and wrist, and between shoulder and elbow is designed. Second,...
This paper reviews the current fuzzy control technology from the engineering point of view, and presents a new method for using parallel fuzzy neural network for invert-pendulum. The neural network is designed to be a treble forward direction network structure with two inputs and three outputs. Considering the reiteration of neural network training, a fuzzy controller is added which is used to compensate...
To meet modern complex control systems communication demands, the paper presents a multi-channel UART controller based on FIFO (first in first out) technique and FPGA (field programmable gate array). The paper presents design method of asynchronous FIFO and structure of the controller. This controller is designed with FIFO circuit block and UART (universal asynchronous receiver transmitter) circuit...
Based on the combination of advanced RISC microprocessor (ARM), DSP and ARM-Linux, this paper introduces an approach for developing embedded robot control systems. The design of embedded control system includes four aspects, i.e., system structure, functions, hardware, and software design. In the development of the system, some features are included such as hierarchy structure, modular hardware, and...
This paper introduces the characteristics of a multi-axis control system based on PCI bus. To reduce the workload from host computer and utilizing the intelligence of DSP efficiently for a complex task, the developed controller is designed with master-slave structure. The controller is also suitable for standalone application to satisfy users' requirements to some applications. The hardware development...
Cable-driven mechanisms have high load capacity. Motivating from the latest research results of humanoid-arm bionics and parallel manipulators, a novel design of cable-driven humanoid-arm, which combines the merits of cable-driven and parallel mechanism, is proposed. This paper introduces the specific structure of cable-driven humanoid-arm. The modes of cables distribution and the coupling among joints...
Based on the current research results of anthropomorphic-arm bionics and parallel manipulators, a motion control approach for a 7-DOF cable-driven manipulator is proposed. This paper introduces mechanical structure design of this anthropomorphic-arm first. For the inverse kinematics of the 7-DOF manipulator, a hybrid algorithm, based on gradient projection method and Paden-Kahan sub problems, is proposed...
This paper introduces the design process of a virtual oscillograph based on LabVIEW. Mainly analyzes the amplitude value and time base adjusting methods during the real-time display. At the same time, it simply introduces the basic thought when measuring the period and frequency of the waveform-gate voltage method and its application. At the end of this paper, combining the parameter measurement and...
A hybrid-driven approach, consisting of cable-driven and convention-driven designs, for a 7-DOF manipulator, is proposed in this paper. This approach combines the merits of cable-driven parallel mechanism and modular serial structure, so that the workspace of the manipulator is larger than that of conventional cable-driven design. The paper first introduces the hybrid mechanism design of the manipulator...
Based on Bluetooth technology, this paper introduces a method of wireless communication between a manipulator and PC. A RS232 interface is connected between PC and Bluetooth module, and the manipulator controller and Bluetooth module are connected by UART. PC detects, communicates and initializes the Bluetooth module using software designed for it, and manipulator communicates with the Bluetooth module...
The control system is the key parts of microarrayer. The working process and configuration of microarrayer are introduced briefly. Special attention is paid to the analysis and computation method of the working path in microarray fabrication. On the condition of given parameters, such as sample variety, slip quantity, spot matrix module, pin matrix module etc., the working path has been mainly divided...
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