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This paper presents a design and stability analysis of a crawler-type pipeline robot which has the radial adjustment ability and can adapt to the changing of pipe diameter, therefore the environment adaptability of the robot is improved. To analysis the motion stability of the robot, the posture model of the robot that works in different pipes, including elbow and straight pipe are established, some...
A kind of tracked pipeline robot with three-axis driving structures and radially adjustable characteristic is designed. The structure and the working principle of robot are introduced, the mechanical model of adjustable mechanism and its obstacle states are established, the mechanical properties of adjustable mechanism are analyzed, the relationship between traveling-capability and obstacle-climbing...
The purpose of this paper is to develop both of high accuracy positioning and map building for an autonomous mobile robot working in indoor environment. A time difference of arrival (TDOA) hyperbola locating method based on ultra-wideband technology and Taylor series expansion algorithm has been proposed to reduce the indoor positioning error. A straight line matching method is raised to process the...
A formation control scheme is studied for mobile robots with linear and angular velocity saturation constraint in this paper. The position of each mobile robot is obtained by GPS receiver module, and the yaw angle of mobile robot is obtained by magnetometer. Leader-follower formation method is applied to coordinate each mobile robot to keep the formation. The formation shape is described by the formation...
Mobile manipulation is simple for human, but difficult for robot. A mobile robot named CHR is developed for mobile manipulation by teleoperation based on mobile Internet. The operator's command is transferred to the robot located in the house. In this paper the manipulation is divided into four parts: preparing, approaching, orientation adjusting, operating. In different parts, different control command...
An accurate map is essential to autonomous mobile robots. Two of the most popular map types are Occupancy Grid Map (OGM) and Topological Map (TM). However, the OGM is inefficient since it requires a large amount of memory to represent the environment. The TM, on the other hand, is difficult to apply to accurate navigation and location because it lacks environmental information. In this paper, a self-adjusted...
The finish machining of large free-form is very difficult because of its very complicated surface and dimension. To improve the machining efficiency and quality of surface, a novel small mobile robot is designed to meet the demand for finish machining of large free-form surface. At first, the structure of the designed mobile robot is introduced and its kinematics analysis is deduced, the transformation...
This paper presents a teleoperation system to control mobile robot remotely. A wireless serial communication card is used to propagate information. RF single chip is used to build the serial communication card. As a translucent communication parts, this card connect the control computer with the executive motors under control. Finally the effectiveness of the teleoperation system is illustrated by...
This paper presents a teleoperation system to control mobile robot remotely. A joystick controller with force feedback is used to control the mobile robot. The stability of the system is analysis in the rigid environment and freedom motion situation. A wireless serial communication card is designed for the robot and the controller. Finally the effectiveness of the teleoperation system is illustrated...
In order to achieve the autonomy of mobile robots, effective localization is a necessary prerequisite. In this paper, we propose an improved Monte Carlo localization using self-adaptive samples, abbreviated as SAMCL. This algorithm employs a pre-caching technique to reduce the on-line computational burden. Further, we define the concept of similar energy region (SER), which is a set of poses (grid...
In order to achieve the autonomy of mobile robots, effective localization is a necessary prerequisite. In this paper, we propose an improved Monte Carlo localization using self-adaptive samples, abbreviated as SAMCL. This algorithm is able to solve the multi-robot localization problem as well as the single-robot localization problem. By employing a pre-caching technique to reduce the on-line computational...
To polish a large scaled free-form surface using a small mobile robot is a new idea in the field of mold manufacturing. However, along with the application of this innovative concept, path planning of the robot becomes an inevitable but hard work because of the complex free-form surface of mold. According to the actual dimensions of the designed small mobile robot, a path planning method that based...
This paper presents a robotic blade grinding system controlled by a PC and a robot controller. The system consists of a six-degree-of-freedom (DOF) industrial robot, a flexible belt grinding machine and a control computer. Robotic blade grinding operation is performed by mounting the turbine blade to the robot flange and executing the robot program to move the robot along a trajectory while maintaining...
For a problem of trajectory tracking control of a polishing robot for large free form surfaces, according to the kinematics model the robot, this paper has achieved the trajectory tracking control using the method of interpolation. The process of trajectory tracking control is analyzed in the paper as well as how to implement it. Experiments show that the method presented in this paper can get a better...
Effective localization is a fundamental prerequisite for achieving autonomous mobile robot. In this paper, we propose three probabilistic approaches to solve the global localization problem and the kidnapped robot problem. The first approach named the hybrid Grid-MCL algorithm merges Monte Carlo Localization (MCL) and grid localization. It can solve the global localization problem with very low on-line...
Fuzzy neural network controller for underwater vehicles has many parameters difficult to tune manually. To reduce the numerous work and subjective uncertainty in manual adjustments, a novel immune particle swarm optimization (IPSO) algorithm based on immune theory and nonlinear decreasing inertia weight (NDIW) strategy was proposed. Owing to the restraint factor and NDIW strategy, IPSO algorithm can...
This paper presents a teleoperation system to control mobile robot remotely. To provide adequate information for the operator to be aware of the robot situation, the whole viewpoints scenes are generated in the first and the third person point of view by virtual tools. These scenes provide the maps and the spatial information to the operators. To complete a complex task, operators can conveniently...
To control mobile robot BCAR-01 remotely, a teleoperation system is presented with a multiple viewpoints virtual scene of the robot and its worksite. The constructed scene is used to get knowledge of the robot and its working environment, besides the real video feedback from the robot vision system. It can present images in multiple person viewpoints. In a complex task, operators can conveniently...
Traditional motion controller for AUV is aiming at single degree of freedom(DOF) to decouple so it ignores the coupling effects of each DOF and it performs bad in some complex navigation states. In order to compensate the coupling effects, a novel PD controller is designed. This controller is constructed on the hydrodynamic model of AUV in six-DOFs and simplified according to the practical needs....
This paper presents a teleoperation system to control mobile robot remotely. The system architecture is based on network technology. To get a synthetical knowledge of the robot and its working environment, besides the real video feedback from the robot vision system, a multiple viewpoints virtual scene of the robot and its worksite is constructed. It can present images in first person and third person...
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