End-Point Contact Force Control with Quantitative Feedback Theory for Mobile Robots

Wen, Shuhuan; Zhu, Jinghai; Li, Xiaoli; Rad, A.B.; Chen, Xiao

doi:10.5772/53742

Cited by 12 publications

(11 citation statements)

References 22 publications

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“…In addition, he uses a noise suppression algorithm Dong et al, 2013;De Melo et al, 2012;Garcia et al, 2007;Garcia-Murillo et al, 2013;He et al, 2013;Lee, 2013;Lin et al, 2013;Liu et al, 2013;Padula and Perdereau, 2013;Perumaal and Jawahar, 2013;Petrescu and Petrescu, 1995a;1995b;1997a;1997b;1997c;2002a;2002b;2003;2005a;2005b;2005c;2005d;2005e, 2016a2013;2012a;2012b;2011;Petrescu et al, 2016;2009;Reddy et al, 2012;Tabaković et al, 2013;Tang et al, 2013;Tong et al, 2013;Wang et al, 2013;Wen et al, 2012;Antonescu and Petrescu, 1985;1989;Antonescu et al, 1985a;1985b;1986;1987;1988;1994;1997;2001;Mirsayar et al, 2017).…”

Section: Fig 21 the Control Coilmentioning

confidence: 99%

Testing by Non-Destructive Control

Petrescu

Aversa

Akash

et al. 2017

American Journal of Engineering and Applied Sciences

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This paper describes an application of industrial robots that gain ground mainly in the aerospace industry. It is a TTT manipulator whose task is to automatically position the end-effector, in this case a complex sensor system and a eddy-current probe in the position set by the software application for testing by non-destructive ultrasound control of tickets and bars of titanium, both round and square, or any other transparent ultrasound metal (obviously in a certain range of sizes). For surface control, the effector also includes a Eddy current (Eddy current control system). The installation performs ultrasonic control by the echo boost method in total immersion using as a water coupling medium. This method provides the best coupling for automated control systems. This plant was specially produced for ZIROM S.A. A unique producer of titanium ingots in Romania by the reputed German company Karl Deutch (leader in this field), the founder of the company being also one of the inventors of the non-destructive ultrasonic control method, the part of Eddy current being produced by the German company Prüftechnik. This paper aims to explore the state of the art of non-destructive automatic ultrasonic control techniques according to the possible methods to be adopted, by the applications that demand such methods, by reviewing a series of installations more or less similar to those of Zirom s.a. It is thus found that there are a multitude of pine technical solutions that can be done with an ultrasonic automatic control and precision. In this context, the last chapter of the paper that attempts to probe the possible evolution of the future of US control in this field is of great importance because in the current pace of innovations in all fields, but especially in IT and electronics, the future holds many surprises.

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Section: Fig 21 the Control Coilmentioning

confidence: 99%

Testing by Non-Destructive Control

Petrescu

Aversa

Akash

et al. 2017

American Journal of Engineering and Applied Sciences

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“…Designing vectors d 2 + d 3 on cartesian axis system considered fixed, xOy, identical to x 2 O 2 y 2 . Obtain the equation scaling (5) (Wen, 2012). After you determine the co-ordinates of Cartesian point M using data relations of the system (5), may be obtained immediately and parameters using angle relationships established within the framework of the system (6).…”

Section: (2r) Direct Kinematicsmentioning

confidence: 99%

“…First electric motor drives your whole system in a rotating around a vertical spindle O 0 z 0 . Engine (actuator) number 1 (Aldana, 2013), is mounted on the fixed (frame, 0) and causes mobile element 1 in a rotating around a vertical axis (Wen, 2012).…”

Section: Robotsmentioning

confidence: 99%

About the Anthropomorphic Robots

Petrescu

2014

Engevista

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The paper presents an original geometrical and kinematic method for the study of geometry and determining positions of a MP-3R structure of the anthropomorphic robots. It presents shortly the MP-3R direct and inverse kinematics, the inverse kinematics being solved by an original exactly method. One presents shortly an original method to solve the robot inverse kinematics exemplified at the 3R-Robots (MP-3R). The system which must be solved has three equations and three independent parameters to determine. Constructive basis is represented by a robot with three degrees of freedom (a robot with three axes of rotation). If we study (analyze) an anthropomorphic robot with three axes of rotation (which represents the main movements, absolutely necessary), we already have a base system, on which we can then add other movements (secondary, additional). Calculations were arranged and in the matrix form. The most commonly used serial structures over the last 20 or 30 years are those of type 3R, 4R, 5R, 6R, having as constituents essential basic kinematic chain 3R, robot anthropomorphic (RRR), where main rotation around a vertical axis, causes the construction. It can thus passes from the study spatial movement, which is more difficult, to the study motion plane, basic movement, for all the robots and fillers serial movements of rotation. Moving flat, horizontal or vertical, shall be undertaken far more easily than the spatial integration with the convenience simple in the space of which it is part. We will exemplify the basic structure existing in a few serial platforms of rotation, these being the most generalized (more widespread) at the present time. In this work will be pursued and the direct and inverse kinematics of these mechanical systems. It can make the transition from 3R systems-level 2R and vice versa.

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“…People can move by their own forces or using means of transport that use human power, such as a bicycle, or they can use animal traction to pull wagons or other types of carriages. The most widespread and efficient form of land transport uses vehicles equipped with liquid-fueled engines (Frăţilă et al, 2011;Pelecudi, 515 Tang et al, 2013;Tong et al, 2013;Wang et al, 2013;Wen et al, 2012;Antonescu and Petrescu, 1985;1989;Antonescu et al, 1985a;1985b;1986;1987;1988;1994;1997;2000a;2000b;2001).…”

Section: Introductionmentioning

confidence: 99%

Dynamics of Buses - Part II

Petrescu¹,

Aversa²,

Frățilă³

et al. 2018

American Journal of Engineering and Applied Sciences

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Dynamics, or dynamic processes, is the part of mechanics dealing with the study of processes trying to describe as real as possible the movement of a body, element, mechanism, car, etc., also taking into account the action of the forces on the respective system with their influence on the actual movement of system. The present paper aims to present the study of the dynamics of the vehicles, with particularization on the buses. Here are the main elements of the bus dynamics, taking into account all the elements that influence the dynamic operation of a bus, in general and in particular situations, with emphasis on the main systems and elements that act on the actual, dynamic, on a normal path or on an inclined with an alpha angle path.

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End-Point Contact Force Control with Quantitative Feedback Theory for Mobile Robots

Cited by 12 publications

References 22 publications

Testing by Non-Destructive Control

Testing by Non-Destructive Control

About the Anthropomorphic Robots

Dynamics of Buses - Part II

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