Current Issue : April - June Volume : 2016 Issue Number : 2 Articles : 5 Articles
The dexterity characteristics and dexterous workspace features are applied as the considerable and key kinematics properties to\nevaluate the manipulator performance. In this paper, a novel method of the dexterity analysis with the character of graphic dexterity\nand a new concept of the spatial mapping envelope surface are proposed for a 5-degree of freedom(DOF)manipulator.Additionally,\nfor an arbitrary selected point and a dexterous workspace, the dexterity characteristics and the dexterity conditions are drawn,\nrespectively. Finally, the dexterous workspace of this 5-DOF manipulator is obtained and it can be utilized as the basis research of\nthis manipulator in future such as the structure optimization and motion control....
A complete and systematic procedure for the dynamical parameters identification of industrial robot manipulator is presented.The\nsystem model of robot including joint friction model is linear with respect to the dynamical parameters. Identification experiments\nare carried out for a 6-degree-of-freedom (DOF) ER-16 robot. Relevant data is sampled while the robot is tracking optimal\ntrajectories that excite the system. The artificial bee colony algorithm is introduced to estimate the unknown parameters. And we\nvalidate the dynamical model according to torque prediction accuracy. All the results are presented to demonstrate the efficiency\nof our proposed identification algorithm and the accuracy of the identified robot model....
A unique spherical parallel wrist with three partially decoupled rotational degrees of freedom (DOFs) is introduced in this paper.\nThe mechanism has the significant advantages of few singularities and simple partially decoupled kinematics. A modified parallel\nwrist is optimized to have the least link interference workspace. Finally, the decoupled motion is studied in detail to exhibit the\nkinematic performance of the mechanism....
This paper presents a mathematical model of multi robot cooperative hunting behavior. Multiple robots try to search for and\nsurround a prey.When a robot detects a prey it forms a following team.When another ââ?¬Å?searchingââ?¬Â robot detects the same prey, the\nrobots form a new following team. Until four robots have detected the same prey, the prey disappears from the simulation and the\nrobots return to searching for other prey. If a following team fails to be joined by another robot within a certain time limit the team is\ndisbanded and the robots return to searching state.The mathematical model is formulated by a set of rate equations. The evolution\nof robot collective hunting behaviors represents the transition between different states of robots. The complex collective hunting\nbehavior emerges through local interaction.The paper presents numerical solutions to normalized versions of the model equations\nand provides both a steady state and a collaboration ratio analysis. The value of the delay time is shown through mathematical\nmodeling to be a strong factor in the performance of the system as well as the relative numbers of the searching robots and the prey....
A novel mobile robots 3D-perception obstacle regions method in indoor environment based on Improved Salient Region Extraction\n(ISRE) is proposed. This model acquires the original image by the Kinect sensor and then gains Original Salience Map (OSM)\nand Intensity Feature Map (IFM) from the original image by the salience filtering algorithm. The IFM was used as the input\nneutron of PCNN. In order to make the ignition range more exact, PCNN ignition pulse input was further improved as follows:\npoint multiplication algorithm was taken between PCNN internal neuron and binarization salience image of OSM; then we\ndetermined the final ignition pulse input.The salience binarization region abstraction was fulfilled by improved PCNN multiple\niterations finally. Finally, the binarization area was mapped to the depth map obtained by Kinect sensor, and mobile robot can\nachieve the obstacle localization function.The method was conducted on a mobile robot (Pioneer3-DX). The experimental results\ndemonstrated the feasibility and effectiveness of the proposed algorithm....
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