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根据管道泄漏控制机器人的功能要求和技术指标,设计了液压传动系统原理图,介绍了其工作过程。以STC15F2K60S2单片机为主控制器,通过无线通信模块实现远程操作端的数据交互,并将接收到的数据解码为控制信息,通过固态继电器控制电磁阀和电机的动作,进而实现对液压传动系统的远程控制。 相似文献
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为了解决在白车身焊装中机器人与机器人,机器人与其他设备之间存在的干涉问题,本文利用干涉区的创建和设置,结合KUKA机器人语言[1]和现场总线控制技术的应用,有效地实现上述目的。在保障了安全性和可靠性的同时,也优化了生产节拍。 相似文献
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This paper introduces a hybrid system for modeling, learning and recognition of sequences of 'states' in indoor robot navigation. States are broadly defined as local relevant situations (in the real world) in which the robot happens to be during the navigation. The hybrid is based on parallel recurrent neural networks trained to perform a posteriori state probability estimates of an underlying hidden Markov model (HMM) given a sequence of sensory (e.g. sonar) observations. Discriminative training is accomplished in a supervised manner, using gradient-descent. Recognition is carried out either in a dynamic programming framework, i.e. searching the maximum a posteriori probability of state-posteriors along paths of the HMM, or in real time. The approach is suitable for navigation and for map learning. Experiments of learning and recognition of noisy sequences acquired by a mobile robot equipped with 16 sonars are presented. 相似文献
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Cyclic routing algorithms in graphs: Performance analysis and applications to robot scheduling 总被引:1,自引:0,他引:1
Vladimir Kats 《Computers & Industrial Engineering》2011,61(2):279-288
In this paper we revisit and extend the algorithm for the cyclic project scheduling problem which was originally proposed by Romanovskii (1967). While the algorithm has been derived for fixed numerical data, we show how it can be extended to handle the problems with interval data. We also propose a new algorithm for the cyclic scheduling problem with interval data that extends the parametric method developed by Megiddo (1979) and runs in strongly polynomial time. 相似文献
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In this paper we concerned with PID controllers for rigid robots whose integral term is driven by a saturation function. We introduce a new tuning procedure with particular conditions that have to be satisfied at each joint. We found that this novel approach relaxes Tomei's condition on the proportional gains which also relaxes conditions on integral gains. We show, through simulations, that important performance improvement is achieved with respect to previous tuning procedures. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society 相似文献
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A custom, low-cost force measurement system for manufacturing is presented that exploits robotic link deflection for measurement purposes instead of utilizing a commercially purchased load cell. Force measurement can be an important aspect to many manufacturing processes, as it can allow for force feedback control or other process-planning related operations, such as tool-workpiece autozero or through-the-tool joint tracking. This system is demonstrated on a machine that is used for Friction Stir Welding research, and a Finite Element Analysis is also conducted on the robotic link that is used for axial force measurement purposes. This system may be particularly attractive to small businesses or low-volume manufacturers whose smaller operating budgets may normally prohibit them from implementing force measurement systems. 相似文献
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