Current Issue : April - June Volume : 2018 Issue Number : 2 Articles : 5 Articles
Steamer-filling operation is a crucially important process in the liquor-making process, directly related to liquor yield and liquor\nquality. But so far, this process is still dominated by manual operation. In view of working environment and labor shortages in this\nindustry, a novel exclusive steamer-filling robot is proposed in this paper. Firstly, the steamer-filling operation process is described,\nand the structure composition and function realization of the robot are particularly introduced. Secondly, the kinematics problems\nin terms of position analysis and workspace of the robot are analyzed in detail. Thirdly, experimental analyses are made to prove\nthe validity and efficiency of the robot system. Finally, some conclusions and the future developing direction are prescribed....
The utility of a robot manipulator focuses on the ability to locate its end effector in a position with a determined orientation\nfollowing a specified trajectory. For this, algorithms were used in order to generate and control the movements joints of robot in a\nsynchronized way.Thehigh-level languages to programrobots are based on three types of movement: joint interpolation (MOVEJ),\nlinear interpolation (MOVES), and circular arcs (MOVEC), which are used to develop any type of task. In this work, these three\nmovements are implemented in the industrial controller CompactRIO, as part of the reconditioning process of a robot manipulator\nof five degrees of freedom (5 DOF) whose controller was obsolete. As a result, it will have an interface in LabVIEWwhere you can\nview and modify the basic parameters implemented in the industrial controller. In addition, the results of the validation tests of the\njoint positions and the end effector of the manipulator will be found....
Dynamic equations and the control law for a class of robots with elastic underactuated MIMO system of legs, athlete Robot, are\ndiscussed in this paper. The dynamic equations are determined by Euler-Lagrange method. A new method based on hierarchical\nsliding mode for controlling postures is also introduced. Genetic algorithm is applied to design the oscillator for robot motion.\nThen, a hierarchical slidingmode controller is implemented to control basic posture of athlete robot stepping. Successful simulation\nresults show the motion of athlete robot...
As a special application scenario, the data collected by wireless sensor networks of coal mine robot is from vital and dangerous\nenvironment. Therefore, the nodes need to work as long as possible. In order to efficiently utilize the node energy of wireless sensor\nnetwork, this paper proposes a self-organizing routingmethod for wireless sensor networks based onQ-learning.Themethod takes\nmany factors into account, such as the hop number, distance, residual energy, and node communication loss and energy. Each node\nof the wireless sensor networks is mapped into an Agent. Periodic training is carried out to optimize the route choice. Each Agent\nchooses the optimal path for data transmission according to the calculated Q evaluation value. Simulation results show that the\nself-organizing sensor networks using Q-learning can balance the energy consumption of the nodes and prolong the lifetime of the\nnetworks....
This paper concerns the problem of dynamical identification for an industrial robot manipulator and presents an identification\nprocedure based on an improved cuckoo search algorithm. Firstly, a dynamical model of a 6-DOF industrial serial robot has been\nderived. And a nonlinear friction model is added to describe the friction characteristic at motion reversal. Secondly, we use a\ncuckoo search algorithm to identify the unknown parameters. To enhance the performance of the original algorithm, both chaotic\noperator and emotion operator are employed to help the algorithm jump out of local optimum.Then, the proposed algorithm has\nbeen implemented on the first three joints of the ER-16 robot manipulator through an identification experiment. The results show\nthat (1) the proposed algorithm has higher identification accuracy over the cuckoo search algorithm or particle swarmoptimization\nalgorithm and (2) compared to linear friction model the nonlinear model can describe the friction characteristic of joints better....
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