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According to the characteristic of brushless DC motor (BLDCM), taking full advantage of high-speed computation ability of DSP and hardware resources of FPGA, a system of BLDCM is designed based on DSP. In this paper, hardware of this system is introduced firstly, and the effect of each part is presented. Subsequently, design of self -adaptive fuzzy PID controller, as well as superiority of the corresponding...
In this paper, a novel vibrating method based on the principle of vibrating suction method is presented, which is called pulse vibrating method. To discuss this method in depth and evaluate its performance, simplified mathematical model based on some assumptions for both the previous sin vibrating method and the pulse vibrating method are built, and a new experimental platform is developed as well...
Autonomous docking between independent robotic modules is critical for self-reconfigurable robots. This ability allows independent reconfigurable robots in the same environment to join together to complete a task that would otherwise not be possible with the individual robots prior to merging. This paper presents an easy and inexpensive implementation of such a system using only one ultrasonic transmitter...
To enhance the effect of robotic microsurgery, the microsensors are integrated on the robot’s end-effector. On the basis of the requirements presented for the integration design, measuring mechanism for the robotic end trephine’s force and cutting depth are studied. Force microsensor and position microsensor are used to measure surgical information of the force and depth. Measuring mechanism was achieved...
Robotics is one of the best ways to connect students with technology. This practical course deals with a kind of education robotics system whose object is to offer a chance to different levels of students to acquire knowledge about robotics. This learning process will involve the students, as they can design and build their own mobile robot according to their ideas, program and test it personally...
The robotic system is developed to improve the effect of microsurgery for keratoplasty. The autonomous suturing should be qualified for the operational requirements of microsurgical keratoplasty. Poorly modeled mechanism of robotic micromanipulator and slight movements of surgical objective point are hindrance for precise position and orientation of end-needle. Visual servo control is available to...
Robotic system is developed to improve the effect of microsurgery for keratoplasty. Based on task and motion analysis in the surgery, type synthesis and size synthesis of robotic mechanism are performed to meet the requirements of surgical tasks. Force and position microsensors are integrated on the end-effector of microsurgical robot. The two digital filtering methods suitable for the PC and the...
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