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Industrial robots with a force-controlled end-effector module can perform continuous contact operations, such as chamfering, deburring, and polishing. However, the commercially available force-controlled end-effector modules only have one degree-of-freedom (DOF) with limited dexterity. In this work, a 3-legged Prismatic-Prismatic-Spherical (3PPS) parallel manipulator is proposed for the development...
Object detection is a hot spot of the research in computer vision since many applications require the determination of the object location. There are many object detection methods based on feature matching methods. In this paper, we locate object on robot operation system. The SIFT keypoints of the template and test images are extracted at first. Then, the matching method is proposed to find the template...
This paper describes the work principle, structure and drive system design methods for a four degrees of freedom manipulator with strong load capacity, light weight and high rotary accuracy, and carries out a finite element analysis on the key parts of the arm by the software of ANSYS. The simulation results shows that the performances of all the designed parts can meet the design requirements.
The teleoperation of space manipulator is an important part of the operation of the space manipulator. In this paper, the main working mode of the manned spacecraft manipulator used for on-orbit servicing is introduced, the data communication system for the on-orbit operation and teleoperation mode is designed. Based on CCSDS AOS, the space-ground communication protocol for teleoperation is designed,...
According to the requirement of coordinated manipulation, a high real-time performance control system for dual-arm robot is designed. Based on the idea of modularization, the system is composed of task management module, communication scheduling module, path planning module, force control module, data management module and 3D visualization module. The architecture of the system proposed in this paper...
The application of lightweight robotic arms is having been expanded from factory automation to the service areas. It is significant to make lightweight robotic arms much safer and lighter for human-robot co-existence. This study presents an overall structure optimization design approach to minimize the mass of the lightweight robotic arm with the constraints on structural strength and drive trains...
To assist activities of daily living, a wheelchair and its mounted manipulator is developed using a coordination control strategy in this paper. The coordination control strategy is composed of a operating intention express and identifying with EEG, locating objective based on EOG and head gesture and a human-robot interface. EEG is used to be acquired and identified the operating intention through...
This paper investigates the feasibility of incorporating a light-weight robotic arm upon an Unmanned Aerial Vehicle (UAV). It concerns on stabilization and adaptability of the UAV during arm operation, exploring alternatives for a light-weight yet durable and feasible arm design, dynamic modelling and feedback control of the arm and integration of the arm with the UAV upon others. Upon consideration...
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