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991.
992.
面向工业机器人系统的三种可靠度配置策略的研究 总被引:4,自引:4,他引:0
工业机器人的可靠性决定着它的应用前景及质量,而我国的工业机器人的可靠性并不容乐观,急需加以提高,针对这种情况,本文给出了三种有效的面向不同系统要求的工业机器人系统可靠度配置策略:"最小努力及比例"分配法适用于首次研制出来、已投入使用并准备进行产品生产,进一步提高其可靠度的工业机器人系统;"混联"分配法是一种简便易行的工业机器人系统可靠度分配方法,此方法适用于在无约束条件下进行研制新型工业机器人时,对其进行的系统可靠度分配,使得所研制的工业机器人具有较高的可靠性;"两级优化"分配是在有约束条件下的一种可靠度优化分配方法.这三种工业机器人配置策略的研究作为其可靠性设计中一个关键环节,不仅具有理论研究价值,同时具有重大的现实意义. 相似文献
993.
Kee D 《Applied ergonomics》2002,33(1):51-62
The purpose of this study was to develop a new method for analytically generating three-dimensional isocomfort workspace for the upper extremities using the robot kinematics. Subjective perceived discomfort scores in varying postures for manipulating four types of controls were used. Fifteen healthy male subjects participated in the experiment. The subjects were asked to hold the given postures manipulating controls for 60 s in the seated position, and to rate their perceived discomfort during the following rest of 60 s using the magnitude estimation. Postures of the upper extremities set by shoulder and elbow motions, types of controls, and left right hand were selected as experimental variables, in which the L32 orthogonal array was adopted. The results showed that shoulder flexion and adduction-abduction, elbow flexion, and types of controls significantly affected perceived discomfort for postures operating controls, but hand used for operating controls did not. Depending upon the types of controls, four regression models predicting perceived discomfort were presented. Using the models, a sweeping algorithm to generate three-dimensional isocomfort workspace was developed, in which the robot kinematics was employed to describe the translational relationships between the upper arm and the lower arm/hand. It is expected that the isocomfort workspace can be used as a valuable design guideline when ergonomically designing three-dimensional workplaces. 相似文献
994.
Fangju Wang Shaidah Jusoh Simon X. Yang 《Engineering Applications of Artificial Intelligence》2006,19(8):939-951
Service robots are used by ordinary people in their houses and offices. For such users, a desirable way to communicate with robots is through natural language interfaces. So far, techniques for developing robot natural language interfaces are far from mature. A major challenge is handling ambiguity, uncertainty, and vagueness in parsing, object resolution, and vague natural language words. In this research, we develop a new approach called the collaborative behavior-based approach, in which behaviors of robots and behaviors of human users, as well as the changes of object states caused by the behaviors, are taken into consideration integratedly in processing natural language user instructions. In this paper, we analyze the special features of a human–robot interface that may affect language understanding, describe our approach that is designed based on the features, and present the implementation and some experimental results. 相似文献
995.
The complexity of a standard compact-in-form Lagrangian dynamical expression is proportional to the fourth power of the number of degrees of freedom (DOF) of a robotic system. This fact challenges both simulation and control of robots with hyper degrees of freedom. In this paper, a systematic approach for deriving the dynamical expression of so-called general constrained robots is proposed. This proposed approach has two main features. First, it uses the subsystem dynamics such as the dynamics of joints and rigid links to construct the dynamical expression of the entire robotic system in a closed form. The complexity of the resulted dynamic expression is linearly proportional to the number of DOF of a robotic system. Second, it extends the standard dynamical form and properties of the conventional single-arm constrained robots to a class of more general robotic systems including the coordinated multiple-arm robotic systems. Three spaces, namely the general joint space, the general task space, and the extended subsystems space, are connected through corresponding velocity/force mapping matrices.An erratum to this article can be found at 相似文献
996.
This paper proposes an olfaction based methodology to automatically cover an unknown area enabling the decoupled cooperation
of a group of floor cleaning mobile robots. This method is based on the utilisation of low cost chemical sensors in cleaning
mobile robots, in order to differentiate clean from dirty areas. The experimental results show that the use of olfactory capabilities
allows to efficiently cover and clean a certain area, and demonstrate the possibility of coordinating several mobile robots
without the need of expensive sensing capabilities, map building or complex algorithms for task scheduling. 相似文献
997.
N.C.W.M. Braspenning J.M. van de Mortel-Fronczak J.E. Rooda 《Electronic Notes in Theoretical Computer Science》2006,164(4):13-28
New methods and techniques are needed to reduce the very costly integration and test effort (in terms of lead time, costs, resources) in the development of high-tech multi-disciplinary systems. To facilitate this effort reduction, we propose a method called model-based integration. This method allows to integrate formal executable models of system components that are not yet physically realized with available realizations of other components. The combination of models and realizations is then used for early analysis of the integrated system by means of validation, verification, and testing. This analysis enables early detection and prevention of problems that would otherwise occur during real integration, resulting in a significant reduction of effort invested in the the real integration and test phases. This paper illustrates how models of components, developed for model-based integration, can be used for automated model-based testing, which allows time-efficient determination of the conformance of component realizations with respect to their requirements. The combination of model-based integration and model-based testing is practically illustrated in a realistic industrial case study. Results obtained from this study encourage further research on model-based integration as a prominent method to reduce the integration and test effort. 相似文献
998.
999.
提出一种基于模糊自调整的机械手控制结构,并针对机械手与外界环境接触时产生的作用力,定义了一种广义力,它是机械手执行机构输出力与机械手末端受到外界力的合力。那么,就可以用类似于机械手位置控制的方法达到力/位置控制目的,通过模糊自调整方法实现。在机械手受到的外力是有界限的前提下,考虑机械手非线性、耦合和多变量的动态特征,证明了整个闭环系统是全局稳定的。 相似文献
1000.