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In this paper, a sensor-based motion planning method for robot arm manipulators operating among unknown obstacles of arbitrary shape is presented. It can be applied to on-line collision avoidance with no prior knowledge of the obstacles. The sensitive skin is used to build a description of the robot’s surroundings. This approach is based on the(More)
In this paper, a mixed controller for solving the trajectory tracking and point stabilization problems of a mobile robot is presented, applying the integration of backstepping technique and neural dynamics. By introducing a virtual target point, the whole motion process is divided into two parts. The first one is employed to realize tracking control and the(More)
The paper describes an approach to scheduling for semiconductor wafer fabrication. In order to effectively analyze of control for semiconductor wafer fabrication, a Hierarchical colored timed Petri net (HCTPN) modeling technology based on the comprehensive analysis of the semiconductor manufacturing process was proposed. Due to the wide acceptance of(More)
Simulation model is extensively used for evaluation of dispatching rules in semiconductor wafer fabrication. However, due to the high complexity of the simulation model, the simulation is so time-consuming that it cannot response to the dynamic changes of practical fabrication well. In order to reduce computer execution time and in the same time maintain(More)
This paper proposes a new joint mechanism for a snake-like robot to travel in hazardous areas for rescue tasks. In a complex environment, it is necessary to preform an efficient three-dimensional motion. But, a serial snake-like robot could hardly do that because of the limitation of its 1-DOF joint structure. To meet the requirement of flexible locomotion,(More)
No matter the end-effector control of joint robots or the pose control of mobile robots, the image feature detection is the critical component of these robot technologies. Moreover, the interest point is the most widely used feedback signal in visual servo control, which performances are directly effected by the actual execution time of the feature(More)