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T : 목차정보

Journal of robotic systems 5건

  1. [해외논문]   Micro-telerobot for manipulation of microscopic objects immersed in a liquid layer  

    Wang, P.K.C.
    Journal of robotic systems v.10 no.3 ,pp. 299 - 319 , 1993 , 0741-2223 ,

    초록

    A micro-telerobot for manipulating microscopic objects such as macromolecules and living microorganisms immersed in a liquid layer is proposed. The basic idea is to inject a small number of microscopic solid ferromagnetic or magnetostrictive particles into the liquid layer either before or after the insertion of the microscopic objects to be manipulated. They serve as end-effectors for the micro-telerobot. These end-effectors are activated and steered by an electromagnetic probe located outside the liquid layer. A nonlinear mathematical model describing the dynamic behavior of the micro-telerobot is developed. It is shown that the equilibrium state of an activated end-effector is unstable. The use of a linear feedback control for stabilization is explored. Appropriate values for the feedback gains are obtained with the aid of computer simulation using the nonlinear mathematical model. The article concludes with a discussion of the physical implementation of the proposed micro-telerobot.(Author abstract)

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    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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  2. [해외논문]   Experimental two-axis vibration suppression and control of a flexible robot arm  

    Yim, Woosoon ; Zuang, Jichun ; Singh, Sahjendra N.
    Journal of robotic systems v.10 no.3 ,pp. 321 - 343 , 1993 , 0741-2223 ,

    초록

    This article focuses on the implementation of a dual-mode controller for the maneuver of a two-axis flexible robotic arm. The joint angle trajectory tracking is accomplished by proportional and derivative and feedforward controllers. Based on the pole placement technique, a linear stabilizer is designed for elastic mode stabilization in the plane perpendicular to each joint axis. The stabilizer is switched on when the trajectory reaches the vicinity of the terminal state. The effect of switching time of the stabilizer and varying payload on arm vibration are investigated. With the proposed control system, accurate joint angle tracking and elastic mode stabilization can be accomplished.(Author abstract)

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    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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  3. [해외논문]   Parallel computation of symbolic robot models and control laws: Theory and application to transputer networks  

    Kircanski, N. ; Petrovic, T. ; Vukobratovic, M.
    Journal of robotic systems v.10 no.3 ,pp. 345 - 368 , 1993 , 0741-2223 ,

    초록

    New computer architectures based on large numbers of processors are now used in various application areas ranging from embedded systems to supercomputers. Efficient parallel processing algorithms are applied in a wide variety of applications such as simulation, robot control, and image synthesis. This article presents two novel parallel algorithms for computing robot inverse dynamics (as well as control laws) starting from customized symbolic robot models. To gain the most benefit from the concurrent processor architecture, the whole job is divided into a large number of simple tasks, each involving only a single floating-point operation. Although requiring sophisticated scheduling schemes, fine granularity of tasks was the key factor for achieving nearly maximum efficiency and speedup. The first algorithm resolves the scheduling problem for an array of pipelined processors. The second one is devoted to parallel processors connected by a complete crossbar interconnection network. The main feature of the proposed algorithms is that they take into account the communication delays between processors and minimize both the execution time and communication cost. To prove the theoretical results, the algorithms have been verified by experiments on an INMOS T800 transputer-based system. We used four transputers in serial and parallel configurations. The experimental results show that the most complicated dynamic control laws can be executed in a submilisecond time interval.(Author abstract)

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    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

    이미지

    Fig. 1 이미지
  4. [해외논문]   Real-time trajectory generation in Multi-RCCL  

    Lloyd, John ; Hayward, Vincent
    Journal of robotic systems v.10 no.3 ,pp. 369 - 390 , 1993 , 0741-2223 ,

    초록

    This article describes the design of the trajectory generator for a robot programming system called Multi-RCCL, which is a package of `C' routines for doing real-time manipulator control in a UNIX environment. RCCL has been used successfully in developing robot control applications in numerous research and industry facilities over the last several years. One of its strongest features is the ability to integrate real-time sensor control into the manipulator task specification. RCCL primitives supply the trajectory generator with target points for motions in joint or Cartesian coordinates. Other primitives allow the code developer to specify on-line functions that can modify the target points, or possibly cancel motion requests, in response to various sensor or control inputs. The design requirements of the trajectory generator are that it be able to integrate these on-line modifications into the overall robot motion and provide a smooth path between adjacent motions even when sensor inputs make the future trajectory uncertain.(Author abstract)

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    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

    이미지

    Fig. 1 이미지
  5. [해외논문]   Method for kinematic calibration of Stewart platforms  

    Zhuang, Hanqi ; Roth, Zvi S.
    Journal of robotic systems v.10 no.3 ,pp. 391 - 405 , 1993 , 0741-2223 ,

    초록

    A Stewart platform is a six degrees of freedom parallel manipulator composed of six variable-length legs connecting a fixed base to a movable plate. Like all parallel manipulators, Stewart platforms offer high force/torque capability and high structural rigidity in exchange for small workspace and reduced dexterity. Because the solution for parallel manipulators' forward kinematics is in general much harder than their inverse kinematics, a typical control strategy for such manipulators is to specify the plate's pose in world coordinates and then solve the individual leg lengths. The accuracy of the robot critically depends on accurate knowledge of the device's kinematic parameters. This article focuses on the accuracy improvement of Stewart platforms by means of calibration. Calibration of Stewart platforms consists of construction of a kinematic model, measurement of the position and orientation of the platform in a reference coordinate frame, identification of the kinematic parameters, and accuracy compensation. A measurement procedure proposed in this article allows a great simplification of the kinematic identification. The idea is to keep the length of the particular leg, whose parameters are to be identified, fixed while the other legs change their lengths during the measurement phase. By that, redundant parameters can be eliminated systematically in the identification phase. The method also shows the estimation of each leg's parameters separately because the measurement equations are fully decoupled, which results in a drastical reduction of the computational effort in the parameter identification. Simulation results assess the performance of the proposed approach.(Author abstract)

    원문보기

    원문보기
    무료다운로드 유료다운로드

    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

    이미지

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