A multiple mobile robots visual real-time locating system is introduced, in which the global search algorithm and track
search algorithm are combined together to identify the real-time position and orientation(pose) of multiple mobile robots.
The switching strategy between the two algorithms is given to ensure the accuracy and improve retrieval speed. The grid
search approach is used to identify target while searching globally. By checking the location in the previous frame, the
maximum speed and the frame time interval, thus the track search can determine the area target robot may appear in the
next frame. Then, a new search will be performed in the certain area. The global search is used if target robot is not
found in the previous search otherwise track search will be used. With the experiment on the static and dynamic
recognition of three robots, the search method here is proved to be high precise, fast, stable and easy to extend, all the
design requirements can be well met.
Fault tolerance of robot was highly demanded in hazard working circumstances. And, actuator fault is a common type of system failure. This paper researches some basic issues of 2-DOF planar redundant actuation parallel system and faulting robot. At the beginning, the Jacobian matrix resolving problem of redundant actuation parallel robot is introduced, and the Jacobian matrix actuator fails is deduced. Furthermore, the forward and inverse position solution methods for both redundant actuation parallel manipulator and system with faulting actuator are presented. With detailed example, the validation of position solution method is proved. Moreover, the workspace analysis method of the redundant parallel manipulator pre and post faulting is addressed. Also, the resolving diagram is included. Finally, based on virtual work principle, a new way to reallocate actuation force and faulting compensation is introduced.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.