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Các bài báo tiêu biểu
The NIST robocrane
Tập 10 Số 5 - Trang 709-724 - 1993
AbstractThe Robot Systems Division of the National Institute of Standards and
Technology (NIST) has been experimenting for several years with new concepts for
robot cranes. These concepts utilize the basic idea of the Stewart platform
parallel link manipulator. The unique feature of the NIST approach is to use
cables as the parallel links and to use winches as the actuators. As long as the
cables ...
Numerical filtering for the operation of robotic manipulators through kinematically singular configurations
Tập 5 Số 6 - Trang 527-552 - 1988
AbstractThe loss of independent degrees of freedom at singular configurations is
an inherent characteristic of robotic manipulators. Due to the unavoidable
singularity of mechanical wrists, singular configurations cannot be avoided by
simply restricting the bounds of the workspace. Techniques for operating at
singular configurations without inducing unacceptably high joint velocities or
end effect...
Inverse dynamic analysis and simulation of a platform type of robot
Tập 5 Số 3 - Trang 209-227 - 1988
AbstractThis article presents an algorithm to solve the inverse dynamics for
platform type of manipulators using Newton‐Euler equations of motion. We found
that the inverse dynamics of the system is governed by thirty‐six linear
equations. The number of these simultaneous equations can be reduced to six, if
a proper sequence is taken. The relationships between the actuating forces and
the shape of...
Improved configuration control for redundant robots
Tập 7 Số 6 - Trang 897-928 - 1990
AbstractThis article presents a singularity‐robust task‐prioritized
reformulation of the configuration control scheme for redundant robot
manipulators. This reformulation suppresses large joint velocities near
singularities, at the expense of small task trajectory errors. This is achieved
by optimally reducing the joint velocities to induce minimal errors in the task
performance by modifying the t...
Type synthesis of 5-DOF parallel manipulators based on screw theory
Tập 22 Số 10 - Trang 535-547 - 2005
A Family of Symmetrical Lower‐Mobility Parallel Mechanisms with Spherical and Parallel Subchains
Tập 20 Số 6 - Trang 297-305 - 2003
AbstractThis paper presents a new family of symmetrical lower‐mobility parallel
mechanisms (PMs) with spherical and parallel subchains, which consists of two
5‐DOF (degrees of freedom) PMs, one 4‐DOF PM and five 3‐DOF PMs. The basic
feature of this family is that each limb consists of five revolute pairs and can
be constructed with two subchains, a 2R pointing subchain and a 3R parallel
subchain, ...
Fusing Visual and Inertial Sensing to Recover Robot Ego‐motion
Tập 21 Số 1 - Trang 23-32 - 2004
AbstractA method for estimating mobile robot ego‐motion is presented, which
relies on tracking contours in real‐time images acquired with a calibrated
monocular video system. After fitting an active contour to an object in the
image, 3D motion is derived from the affine deformations suffered by the contour
in an image sequence. More than one object can be tracked at the same time,
yielding some di...
A multivariable control scheme for robot manipulators
Tập 8 Số 1 - Trang 1-19 - 1991
AbstractThe article puts forward a simple scheme for multivariable control of
robot manipulators to achieve trajectory tracking. The scheme is composed of an
inner loop stabilizing controller and an outer loop tracking controller. The
inner loop utilizes a multivariable PD controller to stabilize the robot by
placing the poles of the linearized robot model at some desired locations. The
outer loop...
A Graph Theoretic Approach for Modeling Mobile Robot Team Formations
Tập 19 Số 11 - Trang 511-525 - 2002
AbstractThis paper addresses a new approach for modeling and control of multiple
teams of mobile robots navigating in a terrain with obstacles, while maintaining
a desired formation and changing formations when required. We model each team as
a triple, (g,r, ℋ︁ ), consisting of a group element, g∈SE(2), that describes the
gross position of the lead robot, a set of shape variables, r, that describe...