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Augmented reality assembly, is a promising application of virtual reality in design and manufacturing and has drawn much more and more attentions from industries and research institutes. The focus of this study are as follows. (1) using the agent-oriented modeling for subassembly object and the behavior reasoning based on petri net model of environment, to build the system model of augmented reality...
The driving ahead motion problem was considered for a family of spherical mobile robot which utilizes counter-weight pendulum motion for propulsion mechanism. A simplified dynamic model of driving ahead motion of the system was derived with respect to the drive motor torque as input, and the input-state linearization condition was checked. Based on this result, a full feedback linearization of the...
This paper analyzes and designs a Testing and Communication System (TCS), which is used for the simulation of controlling and communicating for the space robot arm. Arming at enhancing the reliability of the operation of the space robot arm, a new Hot Double redundant strategy is adopted during the designing of TCS. The new Hot Double Redundant way is utilized to back up CAN BUS, which is the medium...
Spherical robot has no operational ability to surrounding unless it integrates arms. For realizing omnidirectional movement and operating task of spherical robot system, this paper describes an innovated prototype and analyzes dynamic characteristics of a spherical rolling robot with arms. Considered nonholonomic constraint, dynamic equations of the robot system with arms were instructed detailedly...
The research devoted to a conceptual 6-DOF (degree of freedom) camera manipulator mounted on the space capsule is motivated by the cognizance that it is difficult for the camera mounted on the satellite to take photographs flexibly. In this paper, contrary to the traditional way of installing the camera on the satellite, a six degrees of freedom camera manipulator conceptually mounted on the space...
It is proposed to introduce a novel division based self- motion scheme for redundant joint manipulators to avoid obstacles in a static and known environment. The proposed scheme chooses an intuitionistic manifold of self-motion throughout the workspace. A review of the traditional research on self-motion manifolds for redundant manipulators is presented in this paper. And after an overview of the...
This paper presents a new modeling method for mobile robot obstacle avoidance problem and multi-robot system path planning problem. In this paper, we study the inner relationship between the manipulator structure and the mobile robot obstacle avoidance and path planning. We demonstrate that the mobile robot obstacle avoiding problem can be simplified into the manipulator structure construction, based...
The raw data of the world coordinates and image coordinates of calibration points were the fundamental parts of the calibration progress and object localization. In this paper, a new method on the measurement of the world coordinates of coplanar points by monocular theodolite is described, and an improved Harris corner detecting method to pick up image character points is introduced, and we realize...
According to the theory of spherical robot which invented by our laboratory, we designed a novel designed two-wheeled robot It possesses many salient advantages when compared to traditional mobile robots for its special characters, including self-balance, anti-overturn, and the rests. Its primary driving-method and structure-design arc analyzed and optimized in this paper. Moreover, in this paper,...
A fault tolerance design on onboard computer (OBC) is proposed that allows commercial-off-the-shelf (COTS) devices to be incorporated into dual processing modules of onboard computer. The processing module is composed of 32-bit ARM RISC processor and other COTS devices. As well as, a set of fault handling mechanisms is implemented in the computer system. The onboard software was organized around a...
Realizing the virtual manufacturing lies in the support of immersive virtual environment, human-computer interactive tools, and software making the virtual objects, and virtual environment is the overriding condition of virtual manufacturing. Large-format tiled displays are an emerging technology for constructing large scale, high-resolution, semi-immersive visualization environments capable of presenting...
Synthetic gecko adhesive technology is a new adhesive technology. This technology is based on the bionic structure of the geckos’ foot-hair. The synthetic gecko foot-hair achieves their adhesive function by the Van der Waals force, which is acted between the micro-synthetic gecko seta and the adhesive surface. Compared with some common adhesive technologies, synthetic gecko adhesive technology performs...
It is difficult to get solutions that can meet the require-ments of high positioning accuracy and real time control simultaneously among the infinite solutions of a redundant robot. Based on weighted least-norm method(WLNM), an optimized algorithm for inverse kinematics solution of redundant modular robots, with which the joint limits can be avoided, is presented in this paper. According to the characteristic...
The more complicated anticipant trajectory should be followed by the end-effector of a robot to meet the complex tasks of it, which is a hard job to a general industry robot, but the required path-planning can be realized by a redundant modular robot because of its less joint space limitation. An algorithm for three-dimensional spatial ellipse path-planning is presented in this paper in accord with...
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