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Design and Integration for High Performance Robotic Systems Based on Decomposition and Hybridization Approaches

Currently, the uses of robotics are limited with respect to performance capabilities. Improving the performance of robotic mechanisms is and still will be the main research topic in the next decade. In this paper, design and integration for improving performance of robotic systems are achieved throu...

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Detalles Bibliográficos
Autores principales: Zhang, Dan, Wei, Bin
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2017
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5298691/
https://www.ncbi.nlm.nih.gov/pubmed/28075360
http://dx.doi.org/10.3390/s17010118
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author Zhang, Dan
Wei, Bin
author_facet Zhang, Dan
Wei, Bin
author_sort Zhang, Dan
collection PubMed
description Currently, the uses of robotics are limited with respect to performance capabilities. Improving the performance of robotic mechanisms is and still will be the main research topic in the next decade. In this paper, design and integration for improving performance of robotic systems are achieved through three different approaches, i.e., structure synthesis design approach, dynamic balancing approach, and adaptive control approach. The purpose of robotic mechanism structure synthesis design is to propose certain mechanism that has better kinematic and dynamic performance as compared to the old ones. For the dynamic balancing design approach, it is normally accomplished based on employing counterweights or counter-rotations. The potential issue is that more weight and inertia will be included in the system. Here, reactionless based on the reconfiguration concept is put forward, which can address the mentioned problem. With the mechanism reconfiguration, the control system needs to be adapted thereafter. One way to address control system adaptation is by applying the “divide and conquer” methodology. It entails modularizing the functionalities: breaking up the control functions into small functional modules, and from those modules assembling the control system according to the changing needs of the mechanism.
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spelling pubmed-52986912017-02-10 Design and Integration for High Performance Robotic Systems Based on Decomposition and Hybridization Approaches Zhang, Dan Wei, Bin Sensors (Basel) Article Currently, the uses of robotics are limited with respect to performance capabilities. Improving the performance of robotic mechanisms is and still will be the main research topic in the next decade. In this paper, design and integration for improving performance of robotic systems are achieved through three different approaches, i.e., structure synthesis design approach, dynamic balancing approach, and adaptive control approach. The purpose of robotic mechanism structure synthesis design is to propose certain mechanism that has better kinematic and dynamic performance as compared to the old ones. For the dynamic balancing design approach, it is normally accomplished based on employing counterweights or counter-rotations. The potential issue is that more weight and inertia will be included in the system. Here, reactionless based on the reconfiguration concept is put forward, which can address the mentioned problem. With the mechanism reconfiguration, the control system needs to be adapted thereafter. One way to address control system adaptation is by applying the “divide and conquer” methodology. It entails modularizing the functionalities: breaking up the control functions into small functional modules, and from those modules assembling the control system according to the changing needs of the mechanism. MDPI 2017-01-09 /pmc/articles/PMC5298691/ /pubmed/28075360 http://dx.doi.org/10.3390/s17010118 Text en © 2017 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC-BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Zhang, Dan
Wei, Bin
Design and Integration for High Performance Robotic Systems Based on Decomposition and Hybridization Approaches
title Design and Integration for High Performance Robotic Systems Based on Decomposition and Hybridization Approaches
title_full Design and Integration for High Performance Robotic Systems Based on Decomposition and Hybridization Approaches
title_fullStr Design and Integration for High Performance Robotic Systems Based on Decomposition and Hybridization Approaches
title_full_unstemmed Design and Integration for High Performance Robotic Systems Based on Decomposition and Hybridization Approaches
title_short Design and Integration for High Performance Robotic Systems Based on Decomposition and Hybridization Approaches
title_sort design and integration for high performance robotic systems based on decomposition and hybridization approaches
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5298691/
https://www.ncbi.nlm.nih.gov/pubmed/28075360
http://dx.doi.org/10.3390/s17010118
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