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  • IOP Conference Series: Earth and Environmental Science

    Dec 30, 2020 · Carrier attitude is important parameters for carrier manipulation and control and is the key element for effective operation of ship-board equipment such as satellite communication devices, multi-beam and so on. The traditional attitude sensor has some defects in price, volume and electricity consumption, and it is difficult to meet

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  • Modeling and control of a hexacopter with a passive

    Aug 20, 2021 · The manipulator consists of two joints, two rods, and an electromagnetic gripper. A minor IMU is attached to the second rod to get the attitude. The total weight of the passive manipulator system is 225 g while the suction power is 300 N.

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  • Improvement in Measurement Area of 3D LiDAR for a Mobile

    tolerances in the measurement target, the optimal posture can be selected from among multiple manipulator postures that measure the target. On the other hand, the presence of many attitudes that measurement the target is problematic because it signicantly increases the computation time of the cost function. In order to apply this method in various

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  • Attitude measurement system for excavator's …

    An attitude measuring method for excavator's manipulator based on vision measurement was proposed.Using the industrial camera to grab the perspective images of the manipulator,a saddle point detection was adopted to detect the man-made targets which was fixed on every arm of the excavator.Then the fixed geometric dimensioning between two targets was used as a constraint …

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  • Micromachines | Free Full-Text | Attitude Estimation

    Sep 27, 2021 · In robot inertial navigation systems, to deal with the problems of drift and noise in the gyroscope and accelerometer and the high computational cost when using extended Kalman filter (EKF) and particle filter (PF), a complementary filtering algorithm is utilized. By combining the Inertial Measurement Unit (IMU) multi-sensor signals, the attitude data are corrected, and the high-precision

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  • US4453085A - Electro-optical systems for control of robots

    Method and apparatus for accurate positioning of a moveable member such as a robot arm or the like. An encoder or other position sensing means on the robot is used to control positioning of the robot into a desired position. However, because of inaccuracies such as those built up by utilizing a plurality of position sensors or those occasioned by bending, etc., the robot arm, gripper or the

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  • Systems - National Deep Submergence Facility

    Therefore, the flow and/or pressure to science-supplied gear may be reduced when other hydraulically-operated submersible equipment is used, e.g., manipulators, slurp systems, etc. Users should allow for a 100 to 300 psi pressure drop between the pump and science equipment, depending on flow and operating temperature.

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  • A Novel Approach to Detect the Posture of Excavator's

    As described earlier, the manipulator attached to the excavator operates the lever based on the 8-bit control signal it receives from the remote control station. Figure 7 shows the positions of the cameras (top left) and the manipulator installation in the cab of the excavator (top right). RTK GPS is utilized to measure the center position and swing angle of the main body of the excavator, and an IMU sensor …

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  • (PDF) Joint angle measurement of manipulator and error

    Experiments show that with the infrared device, the vision-based posture measurement system of the excavator's manipulator can better adapt to different illumination intensity conditions; and the optimization of target selection algorithm reduces the false detection rate from 4 times in every 30s to 1 time in every 30s; also, the average processing time for every manipulator movement frame is reduced …

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  • A new pose estimation method for non-cooperative

    Oct 04, 2018 · In this paper, a method based on the inherent characteristics of a spacecraft is proposed for estimating the pose (position and attitude) of the spatial non-cooperative target. First, we need to preprocess the obtained point cloud to reduce noise and improve the quality of data. Second, according to the features of the satellite, a recognition

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  • US4132318A - Asymmetric six-degree-of-freedom force

    A computer-controlled-manipulator gripper with a set of three-degree-of-freedom force sensors on each finger having strain gauges and 90° shift in orientation of the sensors includes an asymmetric, offset relationship of the location and orientation of analogous sensors on the two fingers in order to obtain different measurements from the two fingers.

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  • GitHub - PaoPaoRobot/IROS2019-paper-list: IROS2019 paper

    IROS2019-paper-list. The 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019) has been held on November 4 – 8, 2019 in The Venetian Macao, Macau, China. IROS is one of the largest and most impacting robotics research conferences worldwide. It brings an international community of researchers, educators and

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  • Control system of trajectory tracking of discretely

    Combining the attitude parameter data collected by the small discretely-actuated manipulator arm, The discretely-actuated manipulator's AC servo system is based on the discretely-actuated manipulator during the operation and the requirements of the individual joint torque. The discretely-actuated manipulator body uses three different

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  • Mobile Manipulator Performance Measurement Data

    Optical tracking system data of the two tests is also provided, along with ground truth data, to allow the user an additional measurement method beyond the artifact method. Mobile Manipulator Performance Measurement Concept . NIST has been developing a mobile manipulator, performance measurement concept over the past two years [3, 4, 5 ].

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  • Vision-based estimation of excavator manipulator pose …

    The proposed attitude measurement method is based on extracting straight line or ellipse features for posture calculation. It combines long distance (coarse positioning) and short distance (fine positioning) measurement methods to achieve detecting charging targets at different distances and different poses.

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  • Vessel Surface Equipment Attitude Measurement Based on

    Vessel weapon firing precision is deeply influenced by the attitude, which also affects vessel combat efficiency. In order to realize the high precision determination of vessel weapon attitude, this paper presented the weapon attitude measuring theory based on CIRS(Conventional Inertial Reference System). The theory contained star apparent place synchronous calculation, star image coordinates

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  • Vision-based simultaneous measurement of manipulator

    E-mail: [email protected] Abstract: To detect the joint angle of the manipulator accurately, a measuring method based on an IMU sensor is proposed. The sensor's attitude angles and

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  • Attitude Measurement System for Excavator's Manipulator

    An attitude measuring method for excavator's manipulator based on vision measurement was proposed.

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  • Research on Intelligent Control System of Manipulator

    Jan 20, 2018 · In order to improve the accuracy and flexibility of forestry robot mechanical arm, the mechanical arm mathematical model is constructed in this paper by Denavit–Hartenberg parameter method, and the inverse solution algorithm based on Newton iteration method is designed. On this basis, in the joint space, three times interpolation and five times interpolation algorithm are designed for path

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  • A control method for hydraulic manipulators in automatic

    Jul 01, 2018 · In most cases, the joint angles of manipulator are obtained by the use of vision, inertial measurement unit (IMU), laser radar or data fusion of multiple sensors. Lundeen presented a method of estimation for articulated excavator's end effector pose based on optical marker and vision. Although the vision was found to be vulnerable to

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