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This paper introduces a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. We also propose a control architecture referred to as CAST (Control Architecture for...
Biorobotic autonomous undersea vehicle SPC-III, developed by Robotics institute, BeiHang University, is a mission-scale autonomous submersible vehicle. The submersible vehicle possesses a torpedo-shape rigid hull. The aft section is a two joints caudal fin thruster driven by two servo motors, which may be substituted by a screw propeller maintaining the same body shape. The accurate motion of the...
This paper is aimed to develop a face robot that has a human appearance and can display facial expressions. To display facial expressions, a fishing net based structure is constructed to produce a muscular structure and mimic human face behavior. A tear mechanism is even developed to perform the crying behavior like a human being. Through the experiments, the more natural relationship between humans...
The advantage of the optical-flow-based visual servo methods is that features of the moving object do not need to be known in advance. Therefore, they can fit for demands of versatile positioning and tracking tasks in the real world. Nevertheless, it is difficult to achieve satisfactory tracking performance for fast moving objects using these standard approaches. The purpose of this paper is to implement...
In this study, an electrically powered vehicle has been implemented to perform an unmanned ground vehicle purpose. The steering system is modified to automatically control by installing the DC servo motor at the steering wheel shaft. The compass sensor used as the feedback sensor to measure the current heading angle of the vehicle. The autonomous navigation system determines the general sense of direction...
This work presents a comparative study of two different control strategies for a flexible single-link robotic manipulator. The dynamic model of the flexible manipulator involves modeling the rotational base and the flexible link as rigid bodies using the Lagrange's method. The resulting system has one degree-of-freedom (1 DOF). Two types of regulators are studied and discussed: the state-feedback...
High aerial density is needed for improving the capacity in Hard Disk Drive (HDD). In order to achieve this task, tracking performance and robustness of HDD servo system need to be improved. H?? robust controller is one of the most popular techniques for the mentioned problem; however, order of this controller is usually higher than that of the plant, making it difficult to implement practically....
In order to verify the benefit of four links kinematical method, the mathematical model of four links kinematics is established. The kinematical parameters of passive joints can be calculated according to the rotation of active joint. Then the wall-climbing robot can climb the vertical wall through the coordinated rotation of active joint and passive joints. To testify the feasibility of the four...
For the structural features of the zero-opening servo valve, the master manipulator can't drive itself actuators directly, it can only be driven by the information through the controller indirectly. This process will inevitably affect the response speed of the control system. Force differential between the master and the slave is used as the master's control signal, and the position differential and...
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...
So far, the inspection of power line corridors is mainly carried out by manual or helicopters. However, manual inspection is very labour-intensive and inefficient. On the other hand, the cost of the inspection using helicopters is very high. Also the safety of helicopters cannot be guaranteed. In recent years, some researchers have started to use unmanned helicopters to inspect power lines. Nevertheless,...
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