Robots are well established in science and technique. They are used in different environments and they have different structures. Typical robot movements are rapid and steepy when the movement direction changes occurs. It is not necessary to replicate a biological nature based solution for most tasks, so such movements are acceptable and simpler to obtain. Control algorithms are simpler for such cases, development and settings of such controllers are morestraightforward.

(далее…)

Категория: Научные статьи | Нет комментариев »

Much of the developed world’s construction workforce is increasing in average age, and yet construction workers typically retire well before they reach the age of sixty. One reason is that their bodies are worn out because of the nature of the work. We therefore face the challenge of both reducing their physical stress and increasing their productive work life, if we wish to avert an economic and social crunch given the demographic trends towards an aging population in most developed countries. In particular, recent statistics from the U.S Department of labor show that 6.9% of all Workrelated Musculoskeletal Disorders (WMSDs) among workers in 2008 affected shoulders; this percentage becomes much larger for electricians, carpenters, and related construction crafts. The cost to our industry and to society is huge, and it is unnecessary. Reduction of certain types of movements and improvements in posture can result in reduced rates of shoulder WMSDs and in extended work lives. This can be done with a combination of robotics, work re-design, and work monitoring. This paper provides the statistical background and economic analysis that supports the scope of the problem, presents background on the kinematics of shoulder movement, and explains the biomechanics and causes of shoulder injuries. Then, preliminary results are presented for a prototype of a simple, low-cost, sensing solution for automatically monitoring undesirable movements and patterns of motion. It is expected that this could be broadly implemented to help reduce Construction Work-related Musculoskeletal Disorders (WMSDs).

(далее…)

Категория: Мехи | Нет комментариев »

Virtual Reality (VR) technology enables users to interact with three-dimensional data, providing a potentially powerful interface to both static and dynamic information VR has existed in various forms since its inception. It has been known by names such as synthetic environment, cyberspace, artificial reality, simulator technology and so on and so forth before VR was eventually adopted. Though VR has existed from the late 1960s, its latest manifestation, desktop screen-based semiimmersive type which made its first appearance in entertainment industry, has made it come within the realm of possibility for general creation and use. As a result of proliferation of desktop VR, the technology has continued to develop applications that are less than fully immersive. These non-immersive VR applications are far less expensive and technically daunting and have made inroads into industry training and development.

(далее…)

Категория: Научные статьи | Нет комментариев »

Рассмотрены задачи динамического анализа и оптимального управления био-мехатронных систем, образованных конечностями человека и электромеханическими устройствами реаби-литации и усиления ихдвигательных функций, построенных на базе манипуляционных механизмов с антропоморфной структурой.

(далее…)

Категория: Научные статьи | Нет комментариев »

This paper addresses the iterative tuning method of PID control for the robot manipulator based on the responses of the closed loop system. Several properties of the robot control are used, such as any PD control can stabilize a robot in regulation case, the colsed-loop system of PID control can be approximated by a linear system, and the control torque to the robot manipulator is linearly independent of the robot dynamic. By using these properties, a novel systematic turning method for the PID control is proposed. Simulations and experimental results of an upper limb exoskeleton give validation of this PID tuning method.

(далее…)

Категория: Научные статьи | Нет комментариев »