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Bucket wheel reclaimer (BWR) has been widely used for stacking/reclaiming bulk materials (i.e. iron ore) onto/from stockpiles in mining industry. Generally speaking, current BWRs are manually operated, remotely operated, or automated to simply follow predefined trajectory patterns. BWRs are very large in size, heavy in weight, expensive in price and slow in motion. It is commonly agreed in the industry...
New dynamic rolling-walk motion for multi-legged robot with Sensory Compensation is proposed. The motion is realized by using the isotropic leg arrangement and the dynamic center of mass control inspired by bipedal robots. By using the Preview Control of Zero Moment Point with cart-table model based on the bipedal robot technique, the robot's center of mass trajectory is planned for the dynamic motion...
We propose a control methodology of stacker cranes to avoid collisions in warehouse environment including the constraint on trajectories caused by dynamics. In a warehouse environment, there are three problems: constraint on trajectories caused by the consideration of dynamics (e.g., vibration control), safety in the case of an emergency stop, and practical calculation time. In the proposed method,...
This paper presents a new approach based on Artificial Potential Fields (APF) which provides real-time and very effective methodology for practical motion planners in unknown dynamic environments. The Maxwell's equations are exploited to define Artificial Magnetoquasistatic Fields (AMF) as an extension of APF, which provides a predictive, intelligent, and natural behavior in contrast with other approaches...
The dynamic and friction parameters of a redundantly actuated parallel manipulator are identified by using the weighted least square (WLS) method. The dynamic model with nonlinear friction is formulated in the joint space for the parallel manipulator, and it is expressed in its linear matrix form with respect to the dynamic and friction parameters. In the WLS method, the difference algorithm of joint...
One new aspect, introduced in this paper, is the modeling of the human lumbar - a spring is added to the robot to imitate lumbar flexibility and curvature. The Bolzmann machine is used to control robot's posture based on study, and the flexible robot realizes posture control in the self-organizing capacity. The reasonable energy function is defined for the non-linear and strong coupling robot system,...
In this paper, global optimization approach using particle swarm optimization technique for motion planning of dynamic coupling robotic manipulators, involving the optimization of dynamic performance criteria, has been shown to exhibit certain advantages compared with local optimizers. In this approach, the joint torques of the robotic manipulator are approximated by parameterized B-spline functions,...
This paper investigates theoretical and experimental comparison of LS estimation and Bayesian type filters such as EKF, UKF, PF and GMSPPF (Gaussian Mixture Sigma Point Particle Filter) methods for dynamic identification of a 6-DOF parallel motion platform. Comparison results show that the UKF method and the GMSPPF method are most efficient and easy-to-use parameter identification approaches for highly...
In this paper, we present an integrated motion planning and control framework for control of a differentially driven wheeled mobile robot based on the differential flatness property exhibits in the models of the system. The goals of the paper are: (a) to present a simple online control method for wheeled mobile robot using both its kinematic and dynamic models (with the emphasis on dynamic model that...
Although there has been always existing a strong desire to apply adjustable dynamic electrode force in resistance spot welding (RSW) over decades, technical limitation laid a barrier to its implementation and application. However, with the introduction of servo motor control technology into spot welding gun, this issue will not stay unsolvable any more. After a brief introduction of RSW process and...
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