The Jacobian Matrix Structure of the Barrier Arm of Inspection Robot

2013 ◽  
Vol 706-708 ◽  
pp. 1183-1186
Author(s):  
Yu Yan ◽  
Gong Ping Wu
Keyword(s):  
Jacobian Matrix ◽  
Space Velocity ◽  
Joint Space ◽  
Transformation Method ◽  
Linear Mapping ◽  
Real Time Control ◽  
Inspection Robot ◽  
Time Control ◽  
Relationship Of ◽  
The Relationship

The Jacobian matrix represents the relationship of the linear mapping between the space velocity of robot operation and joint space velocity, which is the important link in the process of robot control. According to analyzing the gesture character of the inspection robot when it gets over the obstacles. This paper sets up the dynamitic model of robot by utilizing D-H. Based on that, it builds the Jacobian matrix by adopting differential transformation method, which establishes the foundation of the robots motion planning and real-time control.

Application of GRNN to Plan Trajectory for a Picking Robot

2012 ◽  
Vol 468-471 ◽  
pp. 194-199
Author(s):  
Yan Wang ◽  
Hui Lin Yao
Keyword(s):  
Polynomial Function ◽  
Joint Space ◽  
Linear Mapping ◽  
General Regression Neural Network ◽  
Real Time Control ◽  
Robot System ◽  
Time Control ◽  
System A ◽  
Training Samples ◽  
General Regression

In order to supply reference inputs for the robot system, a high-order polynomial function is proposed according to particular strategies to plan trajectory in joint space, which could provide continuous velocity, acceleration and jerk to ensure safety for electric actuators and stability of the robot during the motion process. The general regression neural network (GRNN) is constructed to realize the proposed polynomial function for its powerful non-linear mapping ability. Parameters of the spreading factor and number of training samples which influence the performances of the network are detailed analyzed. Simulation results show that GRNN has advantages of favorable stability and high precision of function approaching even with few samples. Finally, the trajectory planner based on GRNN is successfully applied for an articulated picking robot to realize the real-time control.

Development of Embedded Intelligent Line-Following Robot Based on Image Processing

2013 ◽  
Vol 849 ◽  
pp. 346-350 ◽  
Author(s):  
Yu Juan Wen ◽  
Zhe Liu
Keyword(s):  
Image Processing ◽  
Real Time ◽  
Processing Technology ◽  
Intelligent Robot ◽  
Real Time Control ◽  
Inspection Robot ◽  
Time Control ◽  
Image Processing Technology ◽  
Line Following

Aiming at dealing with the problems of traditional inspection robot, such as low accuracy of path identification, an embedded intelligent inspection robot based on image processing is developed. With uCOSs efficient real-time control ability and image processing technology, the robot can follow the line automatically. The experiment showed that the intelligent robot can identify the path accurately and adjust the direction and speed quickly

The Analysis and Research of Hedge Trimmer Robotics about Manipulator Kinematics

2013 ◽  
Vol 464 ◽  
pp. 273-278
Author(s):  
Song Liu ◽  
Hui Guo ◽  
Wan Zhang Yang
Keyword(s):  
Inverse Kinematics ◽  
Jacobian Matrix ◽  
Control Program ◽  
Spatial Location ◽  
Velocity Control ◽  
Cartesian Space ◽  
Analysis Theory ◽  
Forward And Inverse Kinematics ◽  
Relationship Of ◽  
The Relationship

According to the analysis theory of the four freedom degree about the robots mechanical arm, in this paper established the four freedom degree of the mechanical arm forward and inverse kinematics equation, which was based on the coordinate system, giving the relationship of the spatial location and gesture between movement member and end executor. Besides, it could solve its Jacobian matrix, and provide theoretical basis to achieve the velocity control program on the end of mechanical arm in Cartesian space. The application of ADAMS had carried out the simulation, analysed the location and movement relations among the mechanical structure, which provided significant data for the actual hedge trimming operation.

Kinematics optimization and static analysis of a modular continuum robot used for minimally invasive surgery

2017 ◽  
Vol 232 (2) ◽  
pp. 135-148 ◽  
Author(s):  
Fei Qi ◽  
Feng Ju ◽  
Dong Ming Bai ◽  
Bai Chen
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Virtual Work ◽  
Structural Parameters ◽  
Real Time Control ◽  
Time Control ◽  
Payload Capacity ◽  
Continuum Robot ◽  
The Relationship

For the outstanding compliance and dexterity of continuum robot, it is increasingly used in minimally invasive surgery. The wide workspace, high dexterity and strong payload capacity are essential to the continuum robot. In this article, we investigate the workspace of a cable-driven continuum robot that we proposed. The influence of section number on the workspace is discussed when robot is operated in narrow environment. Meanwhile, the structural parameters of this continuum robot are optimized to achieve better kinematic performance. Moreover, an indicator based on the dexterous solid angle for evaluating the dexterity of robot is introduced and the distal end dexterity is compared for the three-section continuum robot with different range of variables. Results imply that the wider range of variables achieve the better dexterity. Finally, the static model of robot based on the principle of virtual work is derived to analyze the relationship between the bending shape deformation and the driven force. The simulations and experiments for plane and spatial motions are conducted to validate the feasibility of model, respectively. Results of this article can contribute to the real-time control and movement and can be a design reference for cable-driven continuum robot.

scholarly journals Network-Oriented Real-Time Embedded System Considering Synchronous Joint Space Motion for an Omnidirectional Mobile Robot

Electronics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 317 ◽  
Author(s):  
Raimarius Delgado ◽  
Byoung Choi
Keyword(s):  
Mobile Robot ◽  
Embedded System ◽  
Real Time ◽  
Low Cost ◽  
Joint Space ◽  
Geometric Constraints ◽  
Real Time Control ◽  
Synchronization Mechanism ◽  
Omnidirectional Mobile Robot ◽  
Time Control

This paper proposes a real-time embedded system for joint space control of omnidirectional mobile robots. Actuators driving an omnidirectional mobile robot are connected in a line topology which requires synchronization to move simultaneously in translation and rotation. We employ EtherCAT, a real-time Ethernet network, to control servo controllers for the mobile robot. The first part of this study focuses on the design of a low-cost embedded system utilizing an open-source EtherCAT master. Although satisfying real-time constraints is critical, a desired trajectory on the center of the mobile robot should be decomposed into the joint space to drive the servo controllers. For the center of the robot, a convolution-based path planner and a corresponding joint space control algorithm are presented considering its physical limits. To avoid obstacles that introduce geometric constraints on the curved path, a trajectory generation algorithm considering high curvature turning points is adapted for an omnidirectional mobile robot. Tracking a high curvature path increases mathematical complexity, which requires precise synchronization between the actuators of the mobile robot. An improvement of the distributed clock—the synchronization mechanism of EtherCAT for slaves—is presented and applied to the joint controllers of the mobile robot. The local time of the EtherCAT master is dynamically adjusted according to the drift of the reference slave, which minimizes the synchronization error between each joint. Experiments are conducted on our own developed four-wheeled omnidirectional mobile robot. The experiment results confirm that the proposed system is very effective in real-time control applications for precise motion control of the robot even for tracking high curvature paths.

scholarly journals Enhancing multi-bioreactor platforms for automated measurements and reactive experiment control

2020 ◽  
Author(s):  
François Bertaux ◽  
Sebastián Sosa Carrillo ◽  
Achille Fraisse ◽  
Chetan Aditya ◽  
Mariela Furstenheim ◽  
...  
Keyword(s):  
Single Cell ◽  
Low Cost ◽  
Environmental Parameters ◽  
Small Scale ◽  
Real Time Control ◽  
Control Of Gene Expression ◽  
Time Control ◽  
Automated Measurements ◽  
Experiment Control ◽  
The Relationship

AbstractNew small-scale, low-cost bioreactor designs provide researchers with exquisite control of environmental parameters of microbial cultures over long durations, allowing them to perform sophisticated, high-quality experiments that are particularly useful in systems biology, synthetic biology and bioengineering. However, existing setups are limited in their automated measurement capabilities, primarily because sensitive and specific measurements require bulky, expensive, stand-alone instruments (for example, most single-cell resolved measurements require a cytometer or a microscope). We present here ReacSight, a generic and flexible strategy to enhance multi-bioreactor platforms for automated measurements and reactive experiment control. We use ReacSight to assemble a platform for single-cell resolved characterization and reactive optogenetic control of parallel yeast continuous cultures. We demonstrate its usefulness by achieving parallel real-time control of gene expression with light in different bioreactors and by exploring the relationship between fitness, nutrient scarcity and cellular stress density using highly-controlled and informative competition assays.

The Relationship of Absolute Magnitude to Space-Velocity

1921 ◽  
Vol 54 ◽  
pp. 9 ◽  
Author(s):  
W. S. Adams ◽  
G. Strömberg ◽  
A. H. Joy
Keyword(s):  
Absolute Magnitude ◽  
Space Velocity ◽  
Relationship Of ◽  
The Relationship

Analysis of a Multibody Elastodynamic Model for Closed-Loop Kinematic Mechanisms

2019 ◽  
Author(s):  
Luca Carbonari ◽  
Stefano Brillarelli ◽  
Matteo-Claudio Palpacelli ◽  
Massimo Callegari
Keyword(s):  
Closed Loop ◽  
Control Algorithms ◽  
Real Time Control ◽  
Kinematic Chains ◽  
Time Control ◽  
Single Link ◽  
Parallel Kinematic ◽  
Kinematic Mechanisms ◽  
Time Required ◽  
The Relationship

Abstract This paper is focused on the analysis of an elastodynamic model, typically referred to single-link flexible manipulators, when it is extended to multibody systems with closed-loop kinematic chains subject to vibrations, caused by the slenderness of their mechanical structure together with severe dynamic working conditions. The work is aimed at analyzing the relationship between the degree of accuracy of the proposed elastodynamic model, compared with more complete but time consuming models developed with software, and the time required for its computation, with the final aim of guiding its implementation in real-time control algorithms. Notwithstanding the study is proposed for parallel kinematic machines, the results are also valid for serial kinematic chains.

Sign in / Sign up

Export Citation Format

Share Document