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Kinematic And Dynamic Analyses Of General Robots By Applying The C-B Notation-Ramip (Robot And Mechanism Integrated Program), Bernardo Donoso
Kinematic And Dynamic Analyses Of General Robots By Applying The C-B Notation-Ramip (Robot And Mechanism Integrated Program), Bernardo Donoso
FIU Electronic Theses and Dissertations
In this thesis, a new symbolic representation based on 4x4 homogeneous matrices, C-B (Cylindrical Coordinates - Bryant Angles) notation, has been applied to the kinematic and dynamic analyses of general robots, and a computer algorithm named RaMIP (Robot and Mechanism Integrated Program) has been developed on a Sun workstation for the design and analysis of robots and mechanisms. RaMIP can be used to model most industrial robots currently in use. It performs three-dimensional kinematic and dynamic analyses and takes advantage of the computational efficiency of C-B notation. The C-B notation allows the user to model an arbitrary mechanism consisting of …
Moving Object Recognition And Guidance Of Robots Using Neural Networks, Abhijit Neogy, S. N. Balakrishnan, Cihan H. Dagli
Moving Object Recognition And Guidance Of Robots Using Neural Networks, Abhijit Neogy, S. N. Balakrishnan, Cihan H. Dagli
Mechanical and Aerospace Engineering Faculty Research & Creative Works
The design of a robust guidance system for a robot is discussed. The two major tasks for this guidance system are the online recognition of a moving object invariant to rotation and translation, and tracking the moving object using a neural-network-driven vision system. This system included computer software ported to the IBM PC and interfaced with an IBM 7535 robot. The operation of this guidance system involved recognition of a moving object and the ability to track it till the robot and effector was in close proximity of the object. It was found that the robot was able to track …
Genericity And Singularities Of Robot Manipulators, Ming-Chuan Leu, D. K. Pai
Genericity And Singularities Of Robot Manipulators, Ming-Chuan Leu, D. K. Pai
Mechanical and Aerospace Engineering Faculty Research & Creative Works
The kinematic singularities of robot manipulators are studied from the point of view of the theory of singularities. The notion of a "generic'' kinematic map, whose singularities form smooth manifolds of prescribed dimension in the joint space of the manipulator, is examined. For three-joint robots, an equivalent algebraic condition for genericity using the Jacobian determinants is derived. This condition lends itself to symbolic computation and is sufficient for the study of decoupled manipulators. Orientation and translation singularities of manipulators are studied in detail. A complete characterization of orientation singularities of robots with any number of joints is given. The translation …
Hierarchical Neurocontroller Architecture For Robotic Manipulation, Xavier J. R. Avula, Luis C. Rabelo
Hierarchical Neurocontroller Architecture For Robotic Manipulation, Xavier J. R. Avula, Luis C. Rabelo
Chemical and Biochemical Engineering Faculty Research & Creative Works
A hierarchical neurocontroller architecture consisting of two artificial neural network systems for the manipulation of a robotic arm is presented. The higher-level network system participates in the delineation of the robot arm workspace and coordinates transformation and the motion decision-making process. The lower-level network provides the correct sequence of control actions. A straightforward example illustrates the architecture''s capabilities, including speed, adaptability, and computational efficiency
Planning And Control Of A Robotic Manipulator Using Neural Networks, Xavier J. R. Avula, Heng Ma, Anil Malkani, Jay-Shinn Tsai, Luis C. Rabelo
Planning And Control Of A Robotic Manipulator Using Neural Networks, Xavier J. R. Avula, Heng Ma, Anil Malkani, Jay-Shinn Tsai, Luis C. Rabelo
Chemical and Biochemical Engineering Faculty Research & Creative Works
An architecture which utilizes two artificial neural systems for planning and control of a robotic arm is presented. The first neural network system participates in the trajectory planning and the motion decision-making process. The second neural network system provides the correct sequence of control actions with a high accuracy due to the utilization of an unsupervised/supervised neural network scheme. The utilization of a hybrid hierarchical/distributed organization, supervised/unsupervised learning models, and forward modeling yielded an architecture with capabilities of high level functionality.