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This paper proposes a new method of modeling and simulation of a new 2 DOF parallel mechanism based on Matlab/SimMechanics. We also design a controller under the environment of Simulink and SimMechanics to satisfy the performance requirement for making the end-effector track of the reference trajectory. Simulation results and performance of the control system are presented in detail. The test results...
A polishing implementing mechanism control system of a large freeform surface polishing robot is designed in this paper. According to the structure characteristic of the implementing mechanism, the control process is composed of position control process and pressure control process. The control system has overcome nonlinear characteristic of the proportional reducing valve effectively and ensured...
Object recognition techniques are well known in the field of machine vision, and aim at the classification of certain observed rigid objects based on the information acquired by a specific sensor. These techniques can either be performed in the 2D image space by simply applying suitable image processing algorithms, or in the real world 3D space by performing surface reconstruction of the object's...
This paper addresses the trajectory tracking control in hydraulic robots by using a cascade controller with an adaptive dead-zone compensation. The hydraulic robot under research is composed of two rotational joints driven by linear hydraulic actuators. The flowrates in the linear hydraulic actuators chambers are controlled by overlapped proportional valves. The hydraulic robot mathematical model...
The paper deals with the problem of graphical modelling of the activities of production systems with robots and manipulators. These models allow two kinds of examinations. The first one is aimed of the determination of the smallest number of elementary processing cycles of the entry of the robotic technological complexes (RTC) to ensure that no collision occurs in the course of the processing of two...
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