scholarly journals Study on High-Speed and Smooth Transfer of Robot Motion Trajectory Based on Modified S-Shaped Acceleration/Deceleration Algorithm

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 199747-199758
Author(s):  
Shanxiang Fang ◽  
Jianguo Cao ◽  
Zhengyang Zhang ◽  
Qinjian Zhang ◽  
Weidong Cheng
Keyword(s):  
High Speed ◽  
Robot Motion ◽  
Motion Trajectory

scholarly journals A new method for high speed and smooth transfer of robot motion trajectory

2016 ◽  
Vol 8 (3) ◽  
pp. 168781401663830 ◽  
Author(s):  
Haikuo Shen ◽  
Liangwei Jiang ◽  
Qinjian Zhang ◽  
Yong Tao ◽  
Yunan Cao
Keyword(s):  
High Speed ◽  
New Method ◽  
Robot Motion ◽  
Motion Trajectory

scholarly journals Optimal Falling Track Design for Twice detonating Fuze of Double event Fuel air Explosive with High Speed

2020 ◽  
Vol 70 (4) ◽  
pp. 366-373
Author(s):  
Congliang Ye ◽  
Qi Zhang
Keyword(s):  
High Speed ◽  
High Efficiency ◽  
Single Point ◽  
Design System ◽  
Motion Trajectory ◽  
Novel Approach ◽  
Scale Experiment ◽  
Set Up ◽  
Point Center ◽  
Double Event

To prevent the initiation failure caused by the uncontrolled fuze and improve the weapon reliability in the high-speed double-event fuel-air explosive (DEFAE) application, it is necessary to study the TDF motion trajectory and set up a twice-detonating fuze (TDF) design system. Hence, a novel approach of realising the fixed single-point center initiation by TDF within the fuel air cloud is proposed. Accordingly, a computational model for the TDF motion state with the nonlinear mechanics analysis is built due to the expensive and difficult full-scale experiment. Moreover, the TDF guidance design system is programmed using MATLAB with the equations of mechanical equilibrium. In addition, by this system, influences of various input parameters on the TDF motion trajectory are studied in detail singly. Conclusively, the result of a certain TDF example indicates that this paper provides an economical idea for the TDF design, and the developed graphical user interface of high-efficiency for the weapon designers to facilitate the high-speed DEFAE missile development.

Determining the Effects of Coulomb Friction on the Dynamics of Bearings and Transmissions in Robot Mechanisms

1993 ◽  
Vol 115 (2) ◽  
pp. 231-240 ◽  
Author(s):  
A. Gogoussis ◽  
M. Donath
Keyword(s):  
Coulomb Friction ◽  
High Speed ◽  
Robot Motion ◽  
Robot Dynamics ◽  
Quantitative Characterization ◽  
Joint Coordinates ◽  
Dynamics Problems ◽  
And Control

In order to accurately model robots for precision applications where dynamics are significant, it is important to include the effects of Coulomb friction in the bearings and transmissions. The general guidelines for analyzing friction at the joints will be discussed. It will be shown that friction can be related to the joint coordinates and their first and second time derivatives. The resulting extended robot dynamics formulation will be investigated as it applies to the inverse and forward robot dynamics problems. The analytical dependency of Coulomb friction on joint interactions is explicitly examined. As an illustration of friction effects in transmissions, we elaborate on the friction in harmonic drives and develop a method for its evaluation. The effect of friction in the bearings on the dynamics is also considered and a quantitative characterization of several specific cases is provided. This study is significant to understanding the design and control issues as they relate to achieving high speed precision robot motion.

Simulation of Robot Motion Operating in the Workcell to Specify Servomotors in its Individual Joints

2014 ◽  
Vol 718 ◽  
pp. 83-87
Author(s):  
Katarina Monkova ◽  
Andrea Cizikova
Keyword(s):  
Inverse Kinematics ◽  
Virtual Simulation ◽  
Robot Motion ◽  
Motion Trajectory ◽  
The Real ◽  
Computer Aid ◽  
Specific Position ◽  
End Effectors ◽  
Definition Of

Robots and manipulators are often part of technological workshop. Their end effectors usually repeat motion at the same path so to be the workpiece transferred and oriented into the specific position. With the definition of the servomotors and drivers in individual joints of robot, when the motion trajectory of selected point is known, is concerned part of mechanics so called inverse kinematics. The article deals with virtual simulation of robot motion as a tool that supports the research of kinematics characteristics in individual joints. Software PTC Creo was used for the computer aid of modelling and servomotors investigation. Obtained dependences of accelerations in time for each joint can be backward used at the controlling of robot motion in the real conditions.

scholarly journals Monocular Vision-Based Robot Localization and Target Tracking

2011 ◽  
Vol 2011 ◽  
pp. 1-12 ◽  
Author(s):  
Bing-Fei Wu ◽  
Wang-Chuan Lu ◽  
Cheng-Lung Jen
Keyword(s):  
Unmanned Aerial Vehicles ◽  
High Speed ◽  
Indoor Environment ◽  
Image Sequences ◽  
Robot Motion ◽  
Single Camera ◽  
Robot Localization ◽  
Motion Model ◽  
Different Types ◽  
Target Locations

This paper presents a vision-based technology for localizing targets in 3D environment. It is achieved by the combination of different types of sensors including optical wheel encoders, an electrical compass, and visual observations with a single camera. Based on the robot motion model and image sequences, extended Kalman filter is applied to estimate target locations and the robot pose simultaneously. The proposed localization system is applicable in practice because it is not necessary to have the initializing setting regarding starting the system from artificial landmarks of known size. The technique is especially suitable for navigation and target tracing for an indoor robot and has a high potential extension to surveillance and monitoring for Unmanned Aerial Vehicles with aerial odometry sensors. The experimental results present “cm” level accuracy of the localization of the targets in indoor environment under a high-speed robot movement.

Development of Dual-Arm Assistant Robot: Motion Trajectory Planning for the Manipulator Arm

2017 ◽  
Vol 11 (9) ◽  
pp. 683
Author(s):  
Ivan Vladimirovich Krechetov ◽  
Arkady Alekseevich Skvortsov ◽  
Pavel Sergeevich Lavrikov ◽  
Vladislavs Korotkovs
Keyword(s):  
Trajectory Planning ◽  
Robot Motion ◽  
Motion Trajectory ◽  
Manipulator Arm ◽  
Dual Arm

scholarly journals Fuzzy Logic Controller sebagai Penentu Gerak Mobile Robot Pembasmi Hama

2020 ◽  
Vol 1 (01) ◽  
pp. 19-24
Author(s):  
Muhammad Ridho Kenawas ◽  
Pola Risma ◽  
Tresna Dewi ◽  
Selamet Muslimin ◽  
Yurni Oktarina
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
High Speed ◽  
Fuzzy Logic Controller ◽  
Pulse Width Modulation ◽  
Robot Motion ◽  
Crop Failure ◽  
Driving System ◽  
Dc Motors ◽  
Autonomous Decision

A mobile robot is one of the solutions to overcome crop failure caused by chili pests. The mobile robot discussed in this paper is used to spray pesticide liquid into chili plant stems to prevent pests attack on the plants. This paper discusses the design of pesticide spraying robot motion with the application of Fuzzy Logic Controller. This robot employment is expected to reduce farmers' workload and to help to produce a good harvest.  Robot motions are divided into two conditions, which can be controlled by remote control as a controller (manual) and by means of a sensor (automatic). Mobile robot movements have a significant impact on navigation and the design of the driving system. Robot speed is controller by adjusting Pulse Width Modulation of DC motors attached to the robots' wheel, which set to be  90 for slow and 220  for high speed. The Fuzzy Logic Controller in this mobile robot functions as an autonomous decision-making driver to detect obstacles in front of the mobile robot and the targeted stems.

Sign in / Sign up

Export Citation Format

Share Document