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61.
以栅格法和粒子群算法为基础,提出了一种新的机器人实时全局最优路径规划方法.该方法包括采用栅格法对环境进行建模和直接运用粒子群算法在环境模型中搜索全局最优路径.在计算机上进行了仿真,仿真结果证明了该方法的可行性和有效性. 相似文献
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The effectiveness of an active shutter-glasses stereoscopic display (SD) and a passive polarised SD was evaluated in a live robot-teleoperation task and a simulated indirect-vision driving task in various terrains. Overall, participants completed their tasks significantly faster with the SDs in three-dimensional (3D) mode than with the SDs in the baseline 2D mode. They also navigated more accurately with the SDs in 3D mode. When the effectiveness of the two types of SDs was examined separately, results showed that the active shutter-glasses SD resulted in faster responses and task completion times than the passive polarised SD, though most of the differences failed to reach statistical significance. Perceived workload when interacting with the two SD systems did not differ significantly between the active versus passive display types or between the 3D and 2D modes of operation; however, participants reported more severe discomfort after interacting with the passive polarised SD. 相似文献
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Improper maintenance, repair, and operations of societal centric structures can lead to catastrophic failures that drastically affect global economy, the environment, and everyday life. Due to the remote, cramped and highly irregular environmental nature of these structures, routine manual procedures and operations can be rather tedious, dangerous, and hazardous for humans. Automating maintenance, repair, and operations removes human workers from having to crawl within highly cluttered and constrained spaces, breathing in stale air mixed with fumes from welding or particulate from repair work, and provides higher reliability and consistency in the repair work. This paper introduces SHeRo, a scalable hexapod robot designed for maintenance, repair, and operations within remote, inaccessible, irregular, and hazardous environments. The scalability of the design enhances traditional hexapod robot designs by incorporating two prismatic joints into each leg. A detailed discussion on the design and realization of SHeRo is provided. An analysis on the stability and workspace of SHeRo is presented and a dynamic criterion is developed to integrate the concepts of robot stability and constant orientation workspace into a stable workspace. The analytical solution of the lateral stable workspace of SHeRo is derived along with a metric for comparing stable workspace between different robot configurations. A simulated demonstration and two physical experimental demonstrations are presented showing the advantage of introducing scalability into the hexapod robot design along with the workspace enhancement and flexibility of the scalable hexapod robot. 相似文献
69.
For a biped pole-climbing robot (BiPCR) with grippers, it is an essential demand to determine the target grasp configuration for climbing and transiting between poles, with the graspable region as a priori knowledge. The graspable region on the target pole is critically important for climbing path planning and motion control. To efficiently compute the graspable region for a BiPCR, we propose a novel binary approximating method in this paper. This method may also be applied to generate the three-dimensional (3-D) workspace of a manipulator with constant orientation. The grasping problem and the concept of graspable region for a BiPCR are first introduced. The binary approximating method and the corresponding algorithms are then presented to generate the graspable region. Additional constraints on a biped climbing robot with five degrees of freedom (DoFs) are presented as a supplement to the algorithm. A series of comprehensive simulations are conducted with the five-DoF and six-DoF climbing robots to verify the effectiveness of the proposed method. Finally, the dexterity of biped climbing robots with different DoFs is discussed. 相似文献
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