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Based on differential geometry theory, applying the dynamic extension approach of relative degree, the exact feedback linearization on the kinematic error model of mobile robot is realized. The trajectory-tracking controllers are designed by pole-assignment approach. When angle speed of mobile...
We are interested in flexible manufacturing systems and more particularly in their well functioning. In such a context, we opted for a deterministic and cyclic command, which optimizes several criteria such as Work in Process and workflow. In order to supervise the system functioning, we propose...
The problem of specifying the feedrate variation along a curved path, that yields minimum traversal time for a 3-axis CNC machine subject to constraints on the feasible acceleration along each axis, is addressed. In general, this time–optimal feedrate incurs “bang–bang control,” i.e.,...
Non-flat ceramic products, like toilets and bidets, are fully inspected at the end of the production process, to search for structural, surface and functional defects. Ceramic pieces are transported to the inspection lines assembled in pallets, carried by electro-mechanical fork-lifters or...
Industrial robots should perform complex tasks in the minimum possible cycle time in order to obtain high productivity. The problem of determining the optimum route of a manipulator's end effector visiting a number of task points is similar but not identical to the well-known travelling salesman...
This paper presents a Visibility Sphere Marching algorithm of constructing polyhedral models from Dexel volume models for haptic virtual sculpting. Dexel volume models are used as the in-process models representation during interactive modification in a haptic virtual sculpting system. The stock...
This paper introduces the concept of the PLF (Product Layout Feature), including descriptions of GDEs (Geometric Datum Elements) and engineering symbols, as well as the method of how to define them, and provides a solution to the problems of PLF modeling. As a result of the solution,...
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