Robot Design
Mostrando 13-24 de 25 artigos, teses e dissertações.
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13. TIP OVER AND SLIPPAGE CONTROL OF MOBILE ROBOTIC SYSTEMS OVER ROUGH TERRAIN / CONTROLE DE CAPOTAGEM E DESLIZAMENTO DE SISTEMAS ROBÓTICOS MÓVEIS EM TERRENOS ACIDENTADOS
The use of mobile robots to monitor non-accessible environments has become increasingly common in the recent years. These tasks can be either autonomous, remote-controlled, or passenger-operated. When performed in rough terrain, it is necessary to guarantee mission safety, since many times it is impossible to send a rescue party for recovery. The hybrid envi
Publicado em: 2007
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14. Design and commissioning of an intelligent robotic saw system for assisting osteotomy surgery.
An orthopaedic saw design and commissioning to be driven by a robot was envisaged based on the requirement to develop a system that would allow a physician to automate some surgical procedures that involve limb manipulation. The project goal is to design and build a proof-of-concept prototype employing both mechatronics and Integrated Product Design techniqu
Publicado em: 2007
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15. A VPN (Virtual Private Network) design based on reconfigurable computing and applied to mobile robots / Projeto de uma VPN(Rede Privada Virtual) baseada em computação reconfigurável e aplicada a robôs móveis
This work designs a system that implements a VPN using FPGA (Field Programmable Gate Array) reprogrammable circuits, which are the basis of reconfigurable computing. VPNs use cryptography to allow private communication between parts. In this manner, the computational cost of the cryptography is handled by the hardware, achieving great performance and allowin
Publicado em: 2007
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16. Mapeamento do processo mecanizado de soldagem unilateral FCAW com backing cerâmico aplicável no passe de raiz em aço carbono
This work aims to evaluate one-sided welding automatic using the flux cored arc welding process with ceramic backing in the root bead. The tests were performed using a KUKA KR-16, robot for welding in the flat position. The wire is the AWS A5.20-79 E 71T-1, with 1.2 mm diameter, V-groove butt joints were design to be used in steel plate ASTM A-36. The proces
Publicado em: 2007
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17. Kinematical modeling and optimal design of a biped robot joint parallel linkage
This paper shows the design and analysis of a parallel three-dimensional linkage, conceived to work as the ankle and hip joints of an anthropometric biped robot. This kind of mechanism architecture provides low-weight, highly stable assemblies, and allows the use of actuator synergies. On the other hand, the mechanical transmission ratio is not usually favor
Journal of the Brazilian Society of Mechanical Sciences and Engineering. Publicado em: 2006-12
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18. Controle dinâmico de robôs móveis com acionamento diferencial
This work addresses the dynamic control problem of two-wheeled differentially driven non-holonomic mobile robot. Strategies for robot positioning control and robot orientating control are presented. Such strategies just require information about the robot conguration (x, y and teta), which can be collected by an absolute positioning system. The strategies de
Publicado em: 2006
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19. Arte Robótica: Criação de vida artificial para uma sociedade pós-biológica
This work aims to present some theories and methods required to the rtificial life design as per the robotic art patterns. It analyses the main discussions on the life concepts as they may change due to the historiography progress. Currently, the understanding of what is effectively alive has been enlarged due to the cybernetic theories. The cybernetics comp
Publicado em: 2006
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20. Projeto de um robô bípede para a reprodução da marcha humana. / Design of a biped robot to reproduce the human gait.
A análise da marcha humana é um dos principais recursos que podem ser utilizados no estudo e tratamento de patologias que envolvem o aparelho locomotor. O presente trabalho visa o projeto e a construção de um robô bípede antropomórfico para ser, juntamente com um laboratório de marcha, uma ferramenta de auxílio aos profissionais da saúde na anális
Publicado em: 2005
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21. Model predictive disturbance rejection during cooperative mobile robot assembly tasks
This paper addresses the problem of disturbance compensation for the successful assembly of structures by mobile field robots. A control architecture, consisting of a linear PID joint controller with model predictive feed-forward compensation for mobile base motions and interactive-force disturbance rejection is discussed. Object insertion is achieved by pre
Journal of the Brazilian Society of Mechanical Sciences and Engineering. Publicado em: 2004-09
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22. Tolerância a falhas adaptativa para robôs móveis com arquitetura híbrida
This work presents a novel architectural design methodology, which enables weaving fault-tolerance into hybrid architecture control frameworks. The beneficial aspects fostered by fault tolerance greatly surpass the overhead in project development. Dataflow processing paradigm is based on functions and abstract data elements, providing a simple, yet powerful,
Publicado em: 2004
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23. Um modelo de reorganização de sistemas multiagentes. / A multiagent system reorganization model.
This thesis proposes a reorganization model for Multiagent Systems (MAS). This reorganization model is composed by both an organizational model and a reorganization process. The organization model, called MOISE+, is based on three dimensions: the organizational structure (composed by roles, groups, links, etc.), the organizational functioning (composed by gl
Publicado em: 2003
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24. Experimental study applied to an industrial robot by using variable structure controllers and friction compensation
Control of an industrial robot is mainly a problem of dynamics. It includes non-linearities, uncertainties and external perturbations that should be considered in the design of control laws. In this work, two control strategies based on variable structure controllers (VSC) and a PD control algorithm are compared in relation to the tracking errors considering
Journal of the Brazilian Society of Mechanical Sciences. Publicado em: 2002-11