中国科学院机构知识库网格系统: 检索

Human-robot shared control system based on 3D point cloud and teleoperation 期刊论文 OAI收割
SCIENCE CHINA-TECHNOLOGICAL SCIENCES, 2023, 页码: 9
作者: Yang, ChenGuang; Zhang, Ying; Zhao, GuanYi; Cheng, Long

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收藏 | 浏览/下载：17/0 | 提交时间：2023/11/16

teleoperation 3D point cloud human-robot shared control hybrid force motion control

Data-Driven Motion-Force Control Scheme for Redundant Manipulators: A Kinematic Perspective 期刊论文 OAI收割
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2022, 卷号: 18, 期号: 8, 页码: 5338-5347
作者: Fan, Jialiang; Jin, Long; Xie, Zhengtai; Li, Shuai; Zheng, Yu

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收藏 | 浏览/下载：64/0 | 提交时间：2022/08/22

Manipulators Kinematics End effectors Force Jacobian matrices Robots Force control Data driven kinematic control motion-force control recurrent neural network (RNN) redundant manipulators

Driving Force Distribution and Control for Maneuverability and Stability of a 6WD Skid-Steering EUGV with Independent Drive Motors 期刊论文 OAI收割
APPLIED SCIENCES-BASEL, 2021, 卷号: 11
作者: Zhang, Hui; Liang, Huawei; Tao, Xiang; Ding, Yi; Yu, Biao

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收藏 | 浏览/下载：33/0 | 提交时间：2021/03/15

six-wheel drive (6WD) skid steering electric unmanned ground vehicle (EUGV) driving force distribution vehicle motion control maneuverability and stability

Force/motion hybrid control of three link constrained manipulator using sliding mode 会议论文 OAI收割
Shenyang, China, August 8-11, 2019
作者: Ren HC(任虎存); Kong WG(孔维国); Zhang W(张伟)

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收藏 | 浏览/下载：55/0 | 提交时间：2019/09/05

Three link constrained manipulator Dynamic model Sliding mode Force/Motion hybrid control

Neural Network-Based Control of Networked Trilateral Teleoperation With Geometrically Unknown Constraints 期刊论文 OAI收割
IEEE TRANSACTIONS ON CYBERNETICS, 2016, 卷号: 46, 期号: 5, 页码: 1051-1064
作者:

收藏 | 浏览/下载：37/0 | 提交时间：2016/06/06

Hybrid force-motion control kinematic uncertainty networked trilateral teleoperation neural networks

Perceiving and predicting the intended motion with human-machine interaction force for walking assistive exoskeleton robot 会议论文 OAI收割
2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013, Takamastu, Japan, August 4-7, 2013
作者: Yang MY(杨明毅); Xu ZG(徐志刚); Liu Y(刘勇); He Y(贺云); Xu YL(徐永利)

收藏 | 浏览/下载：41/0 | 提交时间：2013/12/26

Exoskeleton robot Intended motion Human-Machine Interaction force Hybrid control

Motion control research of internal force-static friction capsubot in intestine 会议论文 OAI收割
2011 IEEE/ICME International Conference on Complex Medical Engineering - CME 2011, Harbin, China, May 22-25, 2011
作者: Zhang C(张诚); Su G(苏刚); Li HY(李洪谊)

收藏 | 浏览/下载：29/0 | 提交时间：2012/06/06

Biomechanics friction characteristic "Internal force-static friction" capsubot motion control robotics

Design and analysis of auto-focus assembly for spaceborne remote sensing camera (EI CONFERENCE) 会议论文 OAI收割
2011 International Conference on Electronics, Communications and Control, ICECC 2011, September 9, 2011 - September 11, 2011, Ningbo, China
作者: Chen W.; Gao X.

收藏 | 浏览/下载：39/0 | 提交时间：2013/03/25

Spaceborne remote sensing camera may be out of focus when the environment and photographic distance changes. In order to get higher ground sampled distance for the camera based on the experience gained from the development of a remote sensing camera working principle of auto-focus assembly control system was discussed. Time of waveform extraction was reduced. It sets force an auto-focus assembly that uses cam and line guide rail in order to move the lens group. The motion error of the auto-focus assembly was difficult to be eliminated and would affect on the focusing accuracy of the spaceborne remote sensing camera directly. So it was analyzed at both ends of the focusing structure. The CCD detector can keep stable when the remote sensing camera is imaging. The motion error was tested to verify the validity of the simulation result and it is less than 0.01mm. Its accuracy meets using demand. The focusing method of moving focal plane is suitable for spaceborne remote sensing camera. 2011 IEEE.

Motion and Internal Force Control for Omnidirectional Wheeled Mobile Robots 期刊论文 OAI收割
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2009, 卷号: 14, 期号: 3, 页码: 382-387
作者: Zhao, Dongbin; Deng, Xuyue; Yi, Jianqiang

收藏 | 浏览/下载：20/0 | 提交时间：2015/08/12

Internal force control mobile robots motion control redundant systems

Automatic spin coater for concave spherical substrate (EI CONFERENCE) 会议论文 OAI收割
3rd International Symposium on Advanced Optical Manufacturing and Testing Technologies, AOMATT 2007: Design, Manufacturing, and Testing of Micro- and Nano-Optical Devices and Systems, July 8, 2007 - July 12, 2007, Chengdu, China
Fengchao L.; Jingsong G.; Xiaoguo F.; Jingli Z.; Zhijun X.; Jun H.; Fenglin X.; Huiqing W.; Xiaohan L.

收藏 | 浏览/下载：26/0 | 提交时间：2013/03/25

Coating photoresist film with uniform thickness on concave spherical substrate (CSS) is very important for microfabrication of concave spherical optical elements by lithography technique via a laser direct writer for the uneven photoresist film will result in ununiformity of line width so as to influence the characters of optical elements. For improving the uniformity of photoresist film coating on CSS an automatic spin coater was designed. The process and the mathematical model of spin coating for CSS were analyzed. Difficulties for realizing the spin coater consist of the control of multi-axis motion precisely and collaboratively valves on/ff properly and real-timely. A flexible and well-behaved spinning motion system was achieved by tmeans of principal and subordinate CPUs control. The motion program for spin coating could be created and implemented automatically while the pressure and the valves were was watched and controlled in real time. Film coating and laser direct writing experiments on a CSS with aperture equals to 100 mm and radius equals to 370 mm were performed. Photoresist film with uniform thickness on CSS was obtained by selecting proper spin coating parameters such as rotational speed acceleration and viscosity of the photoresist. After development the section analysis by the atomic force microscope showed that photoresist film thickness was about 517 nm in the center and about 520 nm in the edge of substrate the film thickness error was within 1% and the line width was about 6.0 m with steep sides parallel each other. Experimental results indicate that uniform thickness of thin photoresist film has been coated on CSS by the spin coater which contributes to quality improvement of laser direct writing lines on CSS.