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Aiming at the problem that human beings are prone to fatigue when they repeatedly perform a single action in the performance test of the driver attention monitoring system, a humanoid robot arm is designed to simulate the driver's behaviors such as answering and making handsets and smoking. Firstly, based on the exoskeleton design method, the structure of the robot arm and the bionic hand is designed. Secondly, the improved D-H method is used to establish the kinematics model of the manipulator; the forward and inverse kinematics are solved, and the workspace is analyzed; the dynamics simulation of the robot arm is carried out in Adams software to obtain its motion characteristics and load characteristics. The simulation results show that the structural design of the manipulator is reasonable, and the selection of joint flexible actuators meets the requirements.

Copyright of Journal of Shanghai University of Engineering Science / Shanghai Gongcheng Jishu Daxue Xuebao is the property of Journal of Shanghai University of Engineering Science Editorial Office and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

As the intelligent and information technology advancing rapidly, enterprises selling refined oil product become active in exploring the intelligent refueling robot technology, in attempt to solve the problems of recruitment difficulty, high labor costs, high working intensity and inadequate customer experience. The research systematically reviewed the development of refueling robots at home and abroad,discussed in detail the key technologies such as the refueling robot arm technology and its control system, end actuator, visual identification system, explosion-proof and intelligent interaction. The research made a statistical analysis by observing 2 000 times of refueling actions conducted by 40 refueling staff of varying proficiency and from different types of petrol stations. Then the research compared systematically the factors of efficiency and economy between the two service modes of manual filling and robot filling by taking into consideration the difference of petrol stations in different regions. The analysis results provide references for determining the research and development objectives and measuring commercialization conditions of the refueling robot. On this basis, the research proposed the objective of the application of refueling robots and development goals and the directions for improvements.

Copyright of Control Theory & Applications / Kongzhi Lilun Yu Yinyong is the property of Editorial Department of Control Theory & Applications and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Machine Tool & Hydraulics is the property of Guangzhou Mechanical Engineering Research Institute (GMERI) and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Journal of Harbin Institute of Technology. Social Sciences Edition / Haerbin Gongye Daxue Xuebao. Shehui Kexue Ban is the property of Harbin Institute of Technology and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Packaging & Food Machinery is the property of Packaging & Food Machinery Magazine and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Journal Of Sichuan University (Natural Sciences Division) / Sichuan Daxue Xuebao-Ziran Kexueban is the property of Editorial Department of Journal of Sichuan University Natural Science Edition and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

The problems of the traditional gangue sorting robot arm control algorithms such as the grasping function method and the dynamic target grasping algorithm based on Ferrary method are relying on an accurate environment model and lacking adaptivity in the control process. At the same time, the problems of the traditional intelligent control algorithms such as deep deterministic policy gradient (DDPG) are excessive output actions and sparse rewards that are easily covered. In order to solve these problems, this study improves the neural network structure and reward function in the traditional DDPG algorithm, and proposes an improved DDPG algorithm based on reinforcement learning, which is suitable for handling six-degree-of-freedom gangue sorting robot arms. After the gangue enters the working space of the robot arm, the improved DDPG algorithm can make decisions according to the gangue position and robot arm state returned by the corresponding sensor, and can output a set of joint angle state control quantity to the corresponding motion controller. The algorithm can control the movement of the robot arm according to the gangue position and joint angle state control quantity, so that the robot arm moves to the nearby gangue to conduct gangue sorting. The simulation results show that compared with the traditional DDPG algorithm, the improved DDPG algorithm has the advantages of model-free versatility and adaptive learning of grasping pose in interaction with the environment. Moreover, the improved algorithm can be the first to converge to the maximum reward value encountered during exploration. The robot arm controlled by the improved DDPG algorithm has better policy generalization, smaller joint angle state control output and higher gangue sorting efficiency.

Copyright of Journal of Mine Automation is the property of Industry & Mine Automation Editorial Department and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Ａｉｍｉｎｇ ａｔ ｔｈｅ ｃｏｎｔｒｏｌ ｉｓｓｕｅｓ ｆｏｒ ｐｏｓｉｔｉｏｎ ａｎｄ ｐｏｓｔｕｒｅ ａｄｊｕｓｔｍｅｎｔꎬ ｃｏｎｔａｃｔ ｓｔｒｅｓｓꎬ ｕｎｌｏａｄｉｎｇ ｇｒａｖｉｔｙ ｄｕｒｉｎｇ ｌａｒｇｅ ｃｏｍｐｏｎｅｎｔ ｏｒ ｈｅａｖｙ ｐａｙｌｏａｄ ａｓｓｅｍｂｌｙ ｔｏ ｔｈｅ ｓａｔｅｌｌｉｔｅꎬ ｔｈｅ ｔｅｃｈｎｏｌｏｇｙ ｏｆ ｒｏｂｏｔ ａｒｍ ａｉｄｅｄ ａｓｓｅｍｂｌｙ ｗａｓ ａｐｐｌｉｅｄ. Ａ ｃｏｍｐｌｉａｎｔ ａｓｓｅｍｂｌｙ ｔｅｃｈｎｏｌｏｇｙ ｗｉｔｈ ｒｏｂｏｔ ａｒｍ ａｓｓｉｓｔａｎｃｅ ｂａｓｅｄ ｏｎ ｆｏｒｃｅ ｓｅｎｓｉｎｇ ｉｎｔｅｒａｃｔｉｖｅ ｃｏｎｔｒｏｌ ｗａｓ ｐｒｅｓｅｎｔｅｄꎬ ｔｈｒｏｕｇｈ ｒｅａｌ￣ｔｉｍｅ ａｃｑｕｉｓｉｔｉｏｎ ｏｆ ｆｏｒｃｅ/ ｔｏｒｑｕｅ ａｔ ｔｈｅ ｅｎｄ ｏｆ ｒｏｂｏｔꎬ ｔｈｅ ｌｏａｄ ｇｒａｖｉｔｙ ｐａｒａｍｅｔｅｒｓ ｗｅｒｅ ｃａｌｉｂｒａｔｅｄꎬ ｅｘｔｅｒｎａｌ ｆｏｒｃｅ/ ｔｏｒｑｕｅ ｗａｓ ｅｘｔｒａｃｔｅｄ. Ｔｈｅｎ ｔｈｅ ｃｏｍｐｌｉａｎｔ ｆｏｌｌｏｗ￣ｕｐ ａｌｇｏｒｉｔｈｍ ｏｆ ａｓｓｅｍｂｌｙ ｐｏｓｉｔｉｏｎ ａｎｄ ｐｏｓ￣ ｔｕｒｅ ｗａｓ ｅｓｔａｂｌｉｓｈｅｄꎬ ｂａｓｅｄ ｏｎ ｅｘｔｅｒｎａｌ ｆｏｒｃｅ/ ｔｏｒｑｕｅ ｃｏｎｔｒｏｌꎬ ｔｈｅ ｄｅｖｉａｔｉｏｎｓ ａｎｄ ｃｏｎｔｒｏｌ ｍｅｔｈｏｄｓ ｏｆ ｔｈｅ ａｌｇｏｒｉｔｈｍ ｗｅｒｅ ａｎａｌｙｚｅｄ. Ｍｅａｎｗｈｉｌｅꎬ ａ ｓｙｓｔｅｍ ｏｆ ｒｏｂｏｔ ａｒｍ ａｓｓｉｓｔｅｄ ｃｏｍｐｌｉａｎｔ ａｓｓｅｍｂｌｙ ｗａｓ ｂｕｉｌｔꎬ ｔｈｅ ａｐｐｌｉｃａｔｉｏｎ ｅｘｐｅｒｉｍｅｎｔｓ ｗｅｒｅ ｃａｒｒｉｅｄ ｏｕｔ ｉｎ ａ ｌａｒｇｅ ｓｔｒｕｃｔｕｒａｌ ｃａｂｉｎ ｐｌａｔｅ ａｎｄ ａ ｈｅａｖｙ ｐａｙｌｏａｄ ａｓｓｅｍｂｌｙ ｔｏ ａ ｓａｔｅｌｌｉｔｅ. Ｔｈｅ ｅｘｐｅｒｉｍｅｎｔａｌ ｒｅｓｕｌｔｓ ｓｈｏｗ ｔｈａｔ ｔｈｅ ｌｏｗｅｒ ｌｉｍｉｔ ｏｆ ｆｏｒｃｅ/ ｔｏｒｑｕｅ ｃｏｎｔｒｏｌ ｒａｎｇｅ ｒｅａｃｈｅｓ １０ Ｎ/２ Ｎｍ. Ｃｏｍｐａｒｅｄ ｗｉｔｈ ｔｒａｄｉｔｉｏｎａｌ ａｓｓｅｍｂｌｙ ｍｅｔｈｏｄꎬ ｔｈｉｓ ｍｅｔｈｏｄ ｈａｓ ｔｈｅ ｆｏｌｌｏｗｉｎｇ ａｄｖａｎｔａｇｅｓ ｏｆ ｃｏｍｐｌｉａｎｔ ａｄｊｕｓｔｍｅｎｔ ｏｆ ｐｏｓｉｔｉｏｎ ａｎｄ ｐｏｓｔｕｒｅꎬ ｃｏｎ￣ ｔｒｏｌｌａｂｌｅ ａｓｓｅｍｂｌｙ ｃｏｎｔａｃｔ ｓｔｒｅｓｓꎬ ａｃｃｕｒａｔｅｌｙ ｃａｒｒｙｉｎｇ ａｎｄ ｕｎｌｏａｄｉｎｇ ｇｒａｖｉｔｙꎬ ｓｕｉｔａｂｉｌｉｔｙ ｆｏｒ ａｓｓｅｍｂｌｙ ｗｉｔｈ ａ ｓｐｅｃｉｆｉｃ ｐｏｓｔｕｒｅ ａｍｏｎｇ ｃｏｎｆｉｎｅｄ ｓｐａｃｅ. [ABSTRACT FROM AUTHOR]

The robot arm DH parameter calibration method based on calibration board is proposed,the 7points of calibration board can be sampled by using the end effector in sequence,among which the first 3 points are used to construct the relationship between world and robot coordination system while the other 4 points are applied to establish objective function and error equation. The DH parameter after calibration can be obtained by optimization solution of error equation. At last,the effectiveness of this method is verified through repeated positioning accuracy,the repeated positioning accuracy can be improved from 4. 68 mm to 0. 87 mm. This method has the advantages of simple equipment and easy operation.

By adopting a genetic algorithm for optimization of neural network,the gravity compensation for robot arm is researched.Firstly,through the basic knowledge of mechanics and D-H parameter to set up robot kinematics model,the theoretical computation formula of the gravity item of each joint torque in robot arm is got.Secondly,in the Solid Works simulation software,the simulation value of the gravity item in some certain pose got,thus the correctness of the theoretical computation formula is verified.Finally,the predicted value of the gravity item by genetic algorithm for optimization of neural network is obtained.Experimental results show that the predicted value of gravity items of robot arm learnt with this method is basically conforming with the theoretical value.Consequently,the work load of calculation for the gravity items of robot arm is effectively reduced.Furthermore,this method provide a possible way for the real-time control.

Copyright of Journal of Beijing University of Technology is the property of Journal of Beijing University of Technology, Editorial Department and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

The paper designed a kind of intelligent mail box with remote visual inspection function based on the rule of "a visual examination must he made before the closing of mail box" when the courier receiving the packages. The remote visual inspection on express packages was designed based on the remote audio and video transmission, remote robot control and illegal gas detection and other functions. Hence it prevented the operators from different visual inspection standards or no visual inspection. A Bluetooth scatter net based on nRF52832 realized wireless connection of the manipulator arm, the main control computer, mobile phone or PDA. so that the system could be seamlessly integrated into the existing express cabinet system, the cost of the system was reduced. The automatic volume measurement technology could automatically open, the appropriate size of grid for the package could avoid the waste of space resources. After operation tests, the system has stable performance and convenient operation, and the performance of the system has reached the design requirements. [ABSTRACT FROM AUTHOR]

Based on the DMC5480 motion control card, the RS232 serial communication is achieved by using the visual processing system, and a precise positioning system that can identify the robot arm is designed. The control system hardware is studied in detail and its control strategy is planned followed by preparing the PC operating software. Finally, an arm of a chess robot with visual recognition is designed. Experimental results show that the robot arm can replace the manual function along an arbitrary trajectory in the work area. [ABSTRACT FROM AUTHOR]