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1.
RHINO教学机器人空间定位的软件实现 总被引：1，自引：0，他引：1
龚秉周 《宁波大学学报(教育科学版)》1989,(2)
本文介绍了RHINO教学机器人的结构特点和两级计算机控制原理。并在对其研究的基础上,编制了单通道控制以及对关节量的示教再现等程序。详细分析了机器人在等臂长度下实现机械解耦、坐标转换的方法。 相似文献
2.
《天津大学学报(英文版)》2017,(5)
To implant radioactive seeds through a needle precisely and safely, a novel multi-DOF surgical robotic system is presented in this paper for percutaneous prostate intervention through the patient's perineum under real-time ultrasound image guidance. The proposed robot, which is designed with 9-DOF, consists of a 3-DOF automatic location platform for position adjustment, 2-DOF for automatic ultrasonic probe adjustment mounted with electromagnetic trackers, and 4-DOF for manually adjusting the guided template. Meanwhile, a new registration method based on the quaternion algorithm and least square method is developed, and the needle insertion is performed under the realtime guidance of a navigation system. Furthermore, the robot system has undergone some preliminary experiments with a laser tracker to evaluate the repeatability and accuracy of the robot system. The location error of the puncture needle tip can be controlled under 0.7 mm in air for the whole robotic system. The acquired results endorse the precision of the robot system for prostate seed implantation brachytherapy. 相似文献
3.
SLAM is one of the most important components in robot navigation. A SLAM algorithm based on image sequences captured by a single digital camera is proposed in this paper. By this algorithm, SIFT feature points are selected and matched between image pairs sequentially. After three images have been captured, the environment＇s 3D map and the camera＇s positions are initialized based on matched feature points and intrinsic parameters of the camera. A robust method is applied to estimate the position and orientation of the camera in the forthcoming images. Finally, a robust adaptive bundle adjustment algorithm is adopted to optimize the environment＇s 3D map and the camera＇s positions simultaneously. Results of quantitative and qualitative experiments show that our algorithm can reconstruct the environment and localize the camera accurately and efficiently. 相似文献
4.
Path tracking control of autonomous agricultural mobile robots 总被引：3，自引：0，他引：3
ZHU Zhong-xiang CHEN Jun YOSHIDA Toyofumi TORISU Ryo SONG Zheng-he MAO En-rong 《浙江大学学报(A卷英文版)》2007,8(10):1596-1603
In a tractor automatic navigation system, path planning plays a significant role in improving operation efficiency. This study aims to create a suboptimal reference course for headland turning of a robot tractor and design a path-tracking controller to guide the robot tractor along the reference course. A time-minimum suboptimal control method was used to generate the reference turning course based on the mechanical parameters of the test tractor. A path-tracking controller consisting of both feedforward and feedback component elements was also proposed. The feedforward component was directly determined by the desired steering angle of the current navigation point on the reference course, whereas the feedback component was derived from the designed optimal controller. Computer simulation and field tests were performed to validate the path-tracking performance. Field test results indicated that the robot tractor followed the reference courses precisely on flat meadow, with average and standard lateral devia- tions being 0.031 m and 0.086 m, respectively. However, the tracking error increased while operating on sloping meadow due to the employed vehicle kinematic model. 相似文献
5.
INTRODUCTIONAutonomousnavigationisoneofthemostimportanttopicsinthemobilerobotareaandcanbecategorizedintotwoparts:reactivenavigation(Haddadetal.,1998)andpathplanning.Thefirstoneislocalpathplanningbasedandthesecondoneplansapathintheglobalworkspace .Localpat… 相似文献
6.
针对语音认证系统中高保真录音回放攻击问题,开展了录音回放攻击取证的研究,论述了基于信道模式噪声和回放语音MFCC特征参数提取的取证算法;通过labview软件编程进行仿真验证,提取了疑似回放攻击语音和原始语音信道噪声差值频谱图和疑似回放语音MFCC特征值,结果表明通过提取回放语音中信道模式噪声和MFCC特征参数并设计滤波器去噪能够识别原始语音和高保真录音的差异,为语音司法鉴定和语音认证系统的设计提供了理论依据。 相似文献
7.
A novel robot navigation algorithm with global path generation capability is presented. Local minimum is a most intractable
but is an encountered frequently problem in potential field based robot navigation. Through appointing appropriately some
virtual local targets on the journey, it can be solved effectively. The key concept employed in this algorithm are the rules
that govern when and how to appoint these virtual local targets. When the robot finds itself in danger of local minimum, a
virtual local target is appointed to replace the global goal temporarily according to the rules. After the virtual target
is reached, the robot continues on its journey by heading towards the global goal. The algorithm prevents the robot from running
into local minima anymore. Simulation results showed that it is very effective in complex obstacle environments.
Project (No. 69904009) supported by the National Natural Science Foundation of China 相似文献
8.
戴福全刘路杰 《福建工程学院学报》2020,(6):530-534
为了解决流水线的快速抓取及分类问题,采用六自由度串联工业机器人和SCARA 四轴机器人结合,配合3D 和2D 相机,搭建了一套智能分类抓取系统。基于Halcon 视觉处理平台,在Qt 软件框架下进行二次开发,构建了机器人视觉引导的自动抓取和分类软件框架。通过相机采集图像,并在上位机中经图像预处理、位姿估计、模板匹配等步骤后,得到三维位姿或中心坐标,并发送给机器人实行智能抓取,从而实现对多种堆叠物块的识别和抓取。实验结果表明,通过视觉定位得到的物块中心位置和机械手实际抓取测量之间的误差为0.05~1.22 mm,摆放角度在5°以内时,分拣效率比人工分拣提高了62%左右,可以更好地满足实际企业生产的需求。 相似文献
9.
In this paper, by teaching a 3D robot unit model and playing back to simulate the assembly process in a virtual assembly environment, errors in robot assembly are analyzed. The paper also presents a visualization method for analyzing accuracy of the robot assembly, and studies the influence of the spatial pose of a robot on the success rate of an axis-hole assembly, and accuracy of the robot teaching program in particular. Through integration of various errors and on the basis of assembly accuracy, tolerance of error sources can be reasonably distributed to meet the assembly accuracy requirement, therefore the planning of robot assembly unit can be improved. 相似文献
10.
在足球机器人比赛中,视觉子系统是整个系统获取外部信息的唯一通道,能否由视觉系统快速准确的得到场上信息,是整个比赛的关键,它的性能直接关系到比赛的胜败.本文针对足球机器人比赛的需要,设计了足球机器人视觉系统,包括CCD摄像头、SAA7111A、AL422B、EPM7128及TMS320VC5402,并详细分析了系统的时序关系. 相似文献
11.
钱晋武 章亚男 孙麟治 秦新捷 沈耀宗 QIAN Jin-wu ZHANG Ya-nan SUN Lin-zhi QIN Xin-jie SHEN Yao-zong 《上海大学学报(英文版)》2000,4(3):235-238
The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation
to pipe diameter or roundness variations, is suitable for locomotion and inspection inside small-diameter pipelines. The robot
inspection system, Tubot I, developed at Shanghai University is composed of locomotion mechanism with an inner motor, a micro
CCD camera and a monitor outside the pipeline. In the paper, the kinematics and statics analyses are presented for the screw
locomotion system of Tubot I. The moving characteristics are obtained from experiments on the robot prototype.
Supported by National High-Tech R & D Program in China(863-512-9704-26,863-512-9804-18) 相似文献
12.
LI Mao-hai HONG Bing-rong LUO Rong-hua WEI Zhen-hua 《浙江大学学报(A卷英文版)》2006,7(6):937-944
INTRODUCTION A key prerequisite for a truly autonomous robot is that it can simultaneously localize itself and accu-rately map its surroundings (Kortenkamp et al., 1998), which is known as Simultaneous Localization and Mapping (SLAM), which, when phrased as a state estimation problem, involves a variable number of dimensions. Murphy and Russell (2001) adopted Rao-Blackwellized particle filters (RBPFs) as an effective way for representing alternative hypotheses on robot paths and ass… 相似文献
13.
速率方位平台惯性导航系统研究 总被引：4，自引：0，他引：4
为了降低重力无源导航系统成本,在速率方位平台上放置一个重力敏感器,以构成集重力仪和导航仪为一体的系统.根据该系统的特点对速率方位平台惯性导航系统进行了研究,给出了该系统的导航计算公式、速率方位平台姿态角、系统速度和位置的误差方程以及加速度计和陀螺仪的随机误差模型.用MATLAB/Simulink工具对无阻尼和有阻尼速率方位平台惯性导航系统进行了计算机仿真,仿真结果表明带阻尼的速率方位平台惯性导航系统平台误差角和定位误差小,能够满足重力测量和导航要求. 相似文献
14.
吴晓飞 《实验室研究与探索》2005,24(6):39-41
针对我校引进的德国Fischer公司生产的工业机器人模型，设计开发了一种基于PC的工业机器人教学系统。着重介绍了该系统通信模块硬件、软件的设计方法及其过程。 相似文献
15.
张博夫 《深圳职业技术学院学报》2009,8(5):26-30
介绍一种由单片机89C51、DTMF收发芯片MT8888、单片语音录放电路ISD1420构成的电话自动报警系统．应用MT8888的信号检测功能,分析了电话信道各种实际信号特点,实现信号的识别和被叫摘机的判断;应用MT8888的发、收功能,实现自动拨号报警和用户确认;应用ISD1420的语音录、放音功能,实现报警语音分段播放。 相似文献
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17.
基于虚拟现实技术开发软件对反恐排爆机器人虚拟实验系统进行功能开发,该系统应用于反恐排爆机器人教学,建立D-H机械臂坐标系,实现反恐排爆机器人结构认知、装配操作、工作空间、关节运动控制,实现人机交互,利用D-H参数法建立反恐排爆机器人运动学模型,进行了正、逆运动学求解及轨迹规划。系统有着较好的沉浸性与交互性,能够完成反恐排爆机器人的虚拟实践教学。 相似文献
18.
刘根旺 《实验室研究与探索》2008,27(3):26-28
针对导航、制导与控制专业研究生的教学实验与科研的需要,设计构建了飞行器控制系统设计与仿真实验平台,该平台综合了多学科知识和多种先进技术手段,可以用于飞行器的组合导航与精确制导系统以及飞行器姿态控制系统的设计与仿真,具有综合多样的实验功能。 相似文献
19.
针对智能停车库中的泊车机器人视觉系统研究需求,提出一种基于双目视觉的泊车机器人障碍物识别系统。通过双目摄像头进行图像采集,利用张正友棋盘标定法进行双目相机标定;采用Bouguet进行立体校正,将高斯滤波与拉普拉斯算子相结合进行图像预处理;采用YOLO卷积神经网络对目标障碍物进行快速识别;利用区域匹配算法进行立体匹配并生成目标障碍物视差图;通过成像点和目标障碍物的立体几何关系计算得到目标障碍物的深度信息。实验结果表明,该系统具有良好的实时性和较高精度,障碍物识别时间平均为0.0901s,在2 600mm具有最佳测距精度,可为泊车机器人自动泊车提供保障。 相似文献
20.
中小学机器人课程作为一门典型的工程教育类课程备受关注,如何在机器人教育中培养学生的工程设计思维和问题解决能力值得研究者思考。通过纠错任务解决机器人产品中的问题,能够促进学生理解机器人内部组成结构及功能,培养问题解决能力,获取更深层的学习体验。结合已有研究,文章尝试将纠错复原型教学模式应用于中小学机器人教育,通过感知与操作、拆分与分析、识别与诊断、测试与总结等步骤引导学生发现问题、思考问题并解决问题,旨在为机器人教育提供实践参考。 相似文献