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TL;DR: A detailed review of the main results obtained using both tectonic and geomorphic approaches can be found in this article, where the authors provide an almost complete state-of-the-art in the experimental study of relief dynamics to guide present and future researchers in their understanding of mountain belt evolution.
262 citations
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TL;DR: An optimal design of a parallel manipulator aiming to perform pick-and-place operations at high speed and high acceleration is presented, with an articulated traveling plate, which is free of internal singularities and is able to achieve high performances.
Abstract: This paper presents an optimal design of a parallel manipulator aiming to perform pick-and-place operations at high speed and high acceleration. After reviewing existing architectures of high-speed and high-acceleration parallel manipulators, a new design of a 4-DOF parallel manipulator is presented, with an articulated traveling plate, which is free of internal singularities and is able to achieve high performances. The kinematic and simplified, but realistic, dynamic models are derived and validated on a manipulator prototype. Experimental tests show that this design is able to perform beyond the high targets, i.e., it reaches a speed of 5.5 m/s and an acceleration of 165 m/s2. The experimental prototype was further optimized on the basis of kinematic and dynamic criteria. Once the motors, gear ratio, and several link lengths are determined, a modified design of the articulated traveling plate is proposed in order to reach a better dynamic equilibrium among the four legs of the manipulator. The obtained design is the basis of a commercial product offering the shortest cycle times among all robots available in today's market.
257 citations
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TL;DR: In this paper, a 2D discrete element model (PFC2D) is used to simulate the kinematic behavior of a major landslide triggered by the Chi-Chi earthquake in Taiwan.
226 citations
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07 Apr 1986TL;DR: A new classification scheme for robotic force control algorithms is presented and it is shown that algorithms can be categorized according to whether they are joint-based or cartesian-based.
Abstract: A new classification scheme for robotic force control algorithms is presented. It is shown that algorithms can be categorized according to whether they are joint-based or cartesian-based. Further, they can be grouped according to whether the innermost servo loop is based on torque, velocity, or position. For useful force control, closing an inner loop on position can greatly increase disturbance rejection while also allowing for a split rate servo controller to minimize the computational burden. Experimental results from the implementation of a new force feedback method are presented. This cartesian-based method uses an inner loop closed on position and has been implemented on an AdeptOne robot. Bias force application, force searching, and selective compliance about a synthetic remote center compliance (RCC) have all been implemented. Excellent results in free space and in hard contact have been achieved. This technique has been successfully used to assemble parts having 0.001 inch clearances.
147 citations
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20 Nov 1987TL;DR: In this article, a vision system for controlling the positioning of a robot arm recognizes and locates objects based on boundary features such as lines, arcs, corners and holes instead of "blob features" such as area and best-fit ellipse.
Abstract: A practical vision system for controlling the positioning of a robot arm recognizes and locates objects. The vision system processes binary images, but recognizes objects based on boundary features such as lines, arcs, corners and holes instead of "blob features" such as area and best-fit ellipse. Consequently, the vision system can process two common situations not handled by blob analysis: merged blobs due to touching or overlapping parts and incomplete blobs due to low image contrast. The microprocessor-based system is interfaced to the robot system and can recognize up to five parts per second.
128 citations
Authors
Showing all 241 results
Name | H-index | Papers | Citations |
---|---|---|---|
Neil S. Wenger | 83 | 362 | 25048 |
Didier Bourlès | 61 | 301 | 11171 |
Jacques Malavieille | 53 | 119 | 9975 |
Serge Lallemand | 49 | 146 | 8239 |
Régis Braucher | 47 | 251 | 7213 |
Char-Shine Liu | 46 | 159 | 6147 |
Honghu Liu | 44 | 147 | 8541 |
Frédéric Mouthereau | 39 | 86 | 4690 |
Sheng-Rong Song | 37 | 146 | 3921 |
Françoise Bergerat | 34 | 100 | 3377 |
Shu Kun Hsu | 33 | 132 | 4249 |
Ampaiwan Chuansumrit | 33 | 217 | 3726 |
Andrew H. Kaplan | 32 | 67 | 5602 |
Jyr-Ching Hu | 31 | 104 | 3581 |
Stéphane Dominguez | 31 | 72 | 3558 |