Search results for "Robotics"
showing 10 items of 484 documents
A new approach to the design of a speed-torque-controlled rubber V-belt variator
2005
This paper presents a new model for a torque-speed-sensing rubber V-belt variator. The actuators are of the centrifugal roller kind on the driver side and a helical torque cam plus a compression-torsion spring on the driven side. The equations permit designing the actuator geometry in order to keep the transmissible torque as close as possible to the torque request in the whole operative field. Moreover, a procedure is suggested for the most proper design of an automatic variator of this kind. It permits choosing the required variogram of the transmission, i.e. the matching between the engine and the transmission, and designing the actuators: roller mass, housing shape, contact plate angle…
Stability and Noises Evaluation of Fuzzy Kalman UAV Navigation System.
2009
In this paper a new Fuzzy/Kalman navigation system for Unmanned Aerial Vehicles (UAV) is presented. A closed loop velocity Fuzzy navigation system is proposed for stabilizing the UAV in a reference trajectory generated dynamically and for obtaining a forward velocity command. The Kalman's filter (KF) is included in the feedback line of the fuzzy control system to filter the internal noise of the sensors and to evaluate the external noise due to possible perturbations of the nominal motion. The efficiency of the navigation system has been shown through experimental tests in a Matlab environment.
Lightguide Technology For Adverse Industrial Environments
1987
The lightguide technology has several unique fetures that open up new possibilities of its applications in alverse environments. These factors make this technology attractive in comparizon with classical metal cable based and radio technologies. In the paper we will review relevant works carried out in this country, namely: techno-logical specialization processess for industrial application oriented optical fibres and cables, classification of adverse environments and design rules for cables and optoelectronics, description of our technological facility, fiber optic health protection systems in adverse environments, example of real life applications of ruggedized fibre optic systems in HV/H…
Distributed Intrusion Detection for the Security of Industrial Cooperative Robotic Systems
2014
Abstract This paper addresses the problem of detecting possible intruders in a group of autonomous robots which coexist in a shared environment and interact with each other according to a set of common rules. We consider intruders as robots which misbehave, i.e. do not follow the rules, because of either spontaneous failures or malicious reprogramming. Our goal is to detect intruders by observing the congruence of their behavior with the social rules as applied to the current state of the overall system. Moreover, in accordance with the fully distributed nature of the problem, the detection itself must be performed by individual robots, based only on local information. We present a general …
Synergic algorithms for the planning and the intelligent following of a trajectory for non-holonomic vehicles
2008
Although there are many studies about two wheels non-holonomic vehicles, in order to simplify the problem the planning and the following of trajectories or paths are generally considered two different phases. In this paper, two algorithms for the synergic working of trajectory planning with intelligent trajectory following are presented. The "trajectory shape" characteristics obtained in the planning phase are used for the efficient trajectory following. From the shape, in order to follow the trajectory, an intelligent controller calculates, without further elaboration, the reference wheels velocity of the vehicle. The knowledge of trajectory shape characteristics and curvature constraints …
Tool-Point Control for a Redundant Heave Compensated Hydraulic Manipulator
2012
Abstract In this paper, theoretical and experimental implementation of heave compensation on a redundant hydraulically actuated manipulator with 3-dof has been carried out. The redundancy is solved using the pseudo-inverse Jacobian method. Techniques for minimizing velocities and avoiding mechanical joint saturations is implemented in the null space joint motion. Model based feed-forward, combined with a PI-controller handles the velocity control of each joint. A time domain simulation model has been developed, experimentally verified, and used for controller parameter tuning. Model verification and experimental results are obtained while the manipulator is exposed to wave disturbances crea…
New Expression of the Hydraulic Jump Roller Length
2012
AbstractThis paper presents the results of an experimental investigation on the roller length of both classical and B-jumps on smooth beds. Using the measurements conducted in this investigation and those available in the literature, a new relationship is proposed for estimating the roller length of classical and B-jumps on smooth beds. Finally, it is demonstrated that the proposed equation is also applicable to estimate the roller length of hydraulic jumps on rough horizontal beds.
A New Quasi-Static Cylindrical Roller Bearing Model to Accurately Consider Non-Hertzian Contact Pressure in Time Domain Simulations
2012
The accuracy of the fatigue life calculations in rolling bearing simulations is highly dependent on the precision of the roller-raceway contact simulations. Several different methods exist to simulate these pressure distributions and in time domain bearing simulations, where many contacts need evaluation, the simple and time efficient methods are more popular, yielding erroneous life estimates. This paper presents a new six degree of freedom frictionless quasi-static time domain cylindrical roller bearing model that uses high precision elastic half-space theory to simulate the contact pressures. The potentially higher computational demand using the advanced contact calculations is addressed…
Design optimization on the drive train of a light-weight robotic arm
2011
A drive train optimization method for design of light-weight robots is proposed. Optimal selections of motors and gearboxes from a limited catalog of commercially available components are done simultaneously for all joints of a robotic arm. Characteristics of the motor and gearbox, including gear ratio, gear inertia, motor inertia, and gear efficiency, are considered in the drive train modeling. A co-simulation method is developed for dynamic simulation of the arm. A design example is included to demonstrate the proposed design optimization method.
Adaptive interaction robot control with estimation of contact force
2008
Abstract This paper deals with a new adaptive force-position control of a robotic manipulator based on force estimation. First, an adaptive position controller is derived with contact force component as estimated parameters. Second, a supervisory external loop is added in order to regulate the contact force to the desired value. Extensive simulations with 2-DOF manipulator illustrate the followed approach.