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一种新型管道内微机器人的研究 总被引:13,自引:2,他引:11
本文描述了一种微管道机器人的结构与控制,分析
了这种微管道机器人的移动原理,该机器人借用仿生学原理,结构独特、简单、新颖,运行
速度快,能方便地实现前进和后退,可以在各种形状的弯管内运行.具有自学习功能,实现
了智能控制.该机器人的直径为8mm,最小长度为16mm,最高运动速度为40mm/s,牵引力大于
0.5N.该机器人可用于核电站航天飞机等其他特殊领域的微小型管道的检查,维护. 相似文献
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提出一种基于FPGA的可重构嵌入式微处理器控制系统.在FPGA中嵌入两个Nios II 软核,用VHDL语言编写用户自定义组件.在一个由Nios II软核组成的处理器上实现PWM信号生成、编码器信号处理以及多电机同步伺服运算等,在另一个处理器实现机器人任务管理.该控制系统针对微小型爬壁机器人的控制系统设计,不仅具有良好的实时多任务处理能力,而且具有可重构的特点,因而可应用于一类微小型机器人控制系统以提高其设计的灵活性. 相似文献
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本文介绍了采用2毫米电磁型微马达作为驱动器的移动微型机器人.其整体尺寸为10mm×6mm
×5mm.作为微型机器人的核心部件,微马达采用电磁型轴向磁通结构以获得较大的输出力
矩.该马达的设计创新还在于其控制上可以在不同的阶段采用同步电机和步进电机两种
控制方式.微型机器人的控制器通过超细直径的柔性导线与机械结构相连,创新的结构设计
使得机器人的转弯半径非常小,将导线连接的影响降至极小.通过算法可以控制该机器人前
进、后退、灵活转弯.本文详细论述了该微机器人的设计、制作、结构部件和性能. 相似文献
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Hong-Rui Wang Li Yang Li-Xin Wei 《Soft Computing - A Fusion of Foundations, Methodologies and Applications》2007,11(4):311-315
The performance of a controller for robot force tracking is affected by the uncertainties in both the robot dynamic model and the environmental stiffness. This paper aims to improve the controller’s robustness by applying the neural network to compensate for the uncertainties of the robot model at the input trajectory level rather than at the joint torque level. A self-adaptive fuzzy controller is introduced for robotic manipulator position/force control. Simulation results based on a two-degrees of freedom robot show that highly robust position/force tracking can be achieved, despite the existence of large uncertainties in the robot model. 相似文献
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This paper is concerned with the problem of odor source localization using multi-robot system. A learning particle swarm optimization algorithm, which can coordinate a multi-robot system to locate the odor source, is proposed. First, in order to develop the proposed algorithm, a source probability map for a robot is built and updated by using concentration magnitude information, wind information, and swarm information. Based on the source probability map, the new position of the robot can be generated. Second, a distributed coordination architecture, by which the proposed algorithm can run on the multi-robot system, is designed. Specifically, the proposed algorithm is used on the group level to generate a new position for the robot. A consensus algorithm is then adopted on the robot level in order to control the robot to move from the current position to the new position. Finally, the effectiveness of the proposed algorithm is illustrated for the odor source localization problem. 相似文献
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针对因强降雨、堤防溃决、暴雨增水等因素导致的水位突然上升而泛滥和山洪暴发,形成复杂多变灾后的地形环境。设计了以FPGA为控制器的多传感器融合机器人,提高灾后救援效率。该机器人通过GPS为机器人作业划定区域,生命特征仪、力矩仪和空气质量仪等传感器采集环境数据,搭建非线性全地形机器人动态模型,利用六轴陀螺仪和霍尔传感器获取机器人状态,数据经过扩展卡尔曼滤波算法融合以及航迹算法推算后,获得机器人在灾后环境中的实际信息,使得机器人能够按要求进行搜救作业。实验结果表面,多传感器融合的机器人系统,能够在灾后环境完成信息采集与传输,具有较高的稳定性及准确性。 相似文献
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Design of a teaching pendant program for a mobile shipbuilding welding robot using a PDA 总被引:1,自引:0,他引:1
Teaching pendant is a handheld device by which a human can control a robot. The main functions of a teaching pendant are moving the robot, teaching it about the locations, running robot programs, and jogging the axes. A teaching pendant is usually connected to the robot by a cable. The cable connection and the size of the teaching pendant generally do not pose a problem when the robot controller is separate from the robot. However, a large teaching pendant connected by a cable is not suitable for a self-propelled mobile robot with an internal controller. This paper describes the communication network of a personal data assistant (PDA) as a wireless teaching pendant for a mobile shipbuilding welding robot with embedded controller system that welds and moves autonomously inside the double hull structure of a ship. A double hull is a closed structure that has only a few access holes. It is very difficult and dangerous to weld components inside a double hull structure because of fumes, poisonous gas, and high temperatures. Using a wireless teaching pendant has the following advantages: (1) there are no limits to the welding activities that can take place, (2) the safety level increases because no workers are in close proximity to the robot, (3) workers are far away from the dangerous environmental conditions, (4) it is possible to reduce the weight of the cable connected to the robot, and (5) it is possible to reduce the weight of the robot because of the reduced load of the teaching pendant and the cable. We demonstrate the functionality and performance capabilities of our wireless teaching pendant through field-testing experiments. 相似文献
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DeSouza G.N. Kak A.C. 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》2004,34(5):1988-2002
We present a distributed vision-based architecture for smart robotics that is composed of multiple control loops, each with a specialized level of competence. Our architecture is subsumptive and hierarchical, in the sense that each control loop can add to the competence level of the loops below, and in the sense that the loops can present a coarse-to-fine gradation with respect to vision sensing. At the coarsest level, the processing of sensory information enables a robot to become aware of the approximate location of an object in its field of view. On the other hand, at the finest end, the processing of stereo information enables a robot to determine more precisely the position and orientation of an object in the coordinate frame of the robot. The processing in each module of the control loops is completely independent and it can be performed at its own rate. A control Arbitrator ranks the results of each loop according to certain confidence indices, which are derived solely from the sensory information. This architecture has clear advantages regarding overall performance of the system, which is not affected by the "slowest link," and regarding fault tolerance, since faults in one module does not affect the other modules. At this time we are able to demonstrate the utility of the architecture for stereoscopic visual servoing. The architecture has also been applied to mobile robot navigation and can easily be extended to tasks such as "assembly-on-the-fly." 相似文献
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《Artificial Intelligence in Engineering》2001,15(4):353-363
Emergence of stable gaits in locomotion robots is studied in this paper. A classifier system, implementing an instance-based reinforcement-learning scheme, is used for the sensory-motor control of an eight-legged mobile robot and for the synthesis of the robot gaits. The robot does not have a priori knowledge of the environment and its own internal model. It is only assumed that the robot can acquire stable gaits by learning how to reach a goal area. During the learning process the control system is self-organized by reinforcement signals. Reaching the goal area defines a global reward. Forward motion gets a local reward, while stepping back and falling down get a local punishment. As learning progresses, the number of the action rules in the classifier systems is stabilized to a certain level, corresponding to the acquired gait patterns. Feasibility of the proposed self-organized system is tested under simulation and experiment. A minimal simulation model that does not require sophisticated computational schemes is constructed and used in simulations. The simulation data, evolved on the minimal model of the robot, is downloaded to the control system of the real robot. Overall, of 10 simulation data seven are successful in running the real robot. 相似文献
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《Advanced Robotics》2013,27(3-4):267-291
This paper is concerned with the reactive robot system (RRS) which has been introduced as a novel way of approaching human–robot interactions by exploiting the capabilities of haptic interfaces to transfer skills (from the robot to unskilled persons). The RRS was implemented based on two levels of interaction. The first level, which implements the first two stages of the learning process, represents the conventional control way of interchanging a set of forces in response to a static read of the contact position of some pre-defined dynamic rules (passive interaction). The second level, which implements the last stage of the learning process, represents an enhanced way of interaction between haptic interfaces and humans. This level adds to robotic system a degree of intelligence which enables the robot to dynamically adapt its behavior depending on user wishes (active interaction). In particular, in this paper, the implementation of the second level of the RRS is described in detail. A set of experiments was performed, applied to Japanese handwriting, to verify if second level of the RRS can interact with humans during the autonomous stage of the learning process. The results demonstrated that our system can still provide assistance to users on the autonomous stage while mostly respecting their intentions without significantly affecting their performance. 相似文献
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Deformations occurring in a robot working in contact with a rigid environment is a real problem in the industrial world. This problem can be solved by taking into account forces undergone by the robot at the end-effector level. The first part of this article is aimed at determining a force control scheme that satisfies this constraint and that can be implemented on a non-modified industrial robot controller. Various existing force control schemes are investigated and the reasons for discarding them are given. Then, the emphasis is put on a so-called external force control scheme, which seems to be a solution to our problem. The control law appearing in such a scheme is determined by means of a realistic robot simulator developed on a SUN workstation. A simple integral term on the force error gives acceptable results in various robot configurations. This is illustrated in the form of graphs. In a second part, the implementation of this external control scheme in a real PUMA 560 robot's UNIMATE controller is presented. Certain software issues and implementation solutions are pointed out. Several experiments are described. Once again, graphs are used to show the experimental results. © 1994 John Wiley & Sons, Inc. 相似文献