TMS320VC5000系列DSP与ARM编程 自动化、测控技术、通讯工程.doc

Semi-autonomous shared control of large-scale manipulator arms?? Semi-autonomous operation with shared control between the human operator and control computer has been developed and examined for a large-scale manipulator for gripping and lifting heavy objects in unstructured dynamical environments. The technique has been implemented on an electro-hydraulic actuated crane arm with redundant kinematic structure. Several modes of automation and interaction were evaluated. Experiments show satisfactory smoothness in the transitions between autonomous, shared and manual control, doubled performance in log loading for inexperienced operators while experienced operators reported reduced workload. Marble mosaic tiling automation with a four degrees of freedom Cartesian robot?? The art of mosaic has arisen thousands of years ago. Despite all those years and all the attention it has received till today, mosaic tiling is still being carried out manually and mosaic tiling processes have never been changed except the tool and material developments. In this paper; history of the mosaic art, the ancient and todays mosaic tiling processes are mentioned briefly. A Cartesian robot with four degrees of freedom is designed and manufactured for mosaic tiling automation. An algorithm for mosaic tiling and the control of robot, named “MOSTIL” is developed. The control software interprets a pattern file that is prepared using an existing two-dimensional (2D) CAD package and computes the pieces’ locations of the pattern and guides the robotic arm. As a result of this work, some experimental applications for several mosaic patterns which are designed using a 2D CAD software and saved as “dxf” format, are carried out by the robot automatically. Present and future robot control development—An industrial perspective? Robot control is a key competence for robot manufacturers and a lot of development is made to increase robot performance, reduce robot cost and introduce new functionalities. Exam