摘要：This paper describes the replacement of a controller for a programmable universal machine for assembly (PUmA) 512 robot with a newly designed PC based (open architecture) controller employing a real-time direct control of six joints. The original structure of the PUmA robot is retained. The hardware of the new controller includes such in-house designed parts as pulse width modulation (PWm) amplifiers, digital and analog controllers, I/O cards, signal conditioner cards, and 16-bit A/D and D/A boards. An Intel Pentium IV industrial computer is used as the central controller. The control software is implemented using VC++ programming language. The trajectory tracking performance of all six joints is tested at varying velocities. Experimental results show that it is feasible to implement the suggested open architecture platform for PUmA 500 series robots through the software routines running on a PC. By assembling controller from off-the-shell hardware and software components, the benefits of reduced and improved robustness have been realized.

摘要：The classical edge detectors work fine with the high quality pictures, but often are not good enough for noisy images because they cannot distinguish edges of different significance. The paper presented a novel approach to multiscale edge detection for noisy images using wavelet transforms based on Lipschitz regularity coefficients and a cascade algorithm. The relationship between wavelet transform and Lipschitz regularity was established. The proposed wavelet based edge detection algorithm combined the coefficients of wavelet transforms along with a cascade algorithm which significantly improves the result. The comparison between the proposed method and the classical edge detectors was carried out. The algorithm was applied to various images and its performance was discussed. The results of edge detection of contaminated images using the proposed algorithm show that it works better than the classical edge detectors.

摘要：An improved hybrid position/force controller design of a flexible robot manipulator is presented using a sliding observer. The friction between the end effector and the environment is considered and compensated. For systematic reasons the controller is designed taking into consideration the rigid link subsystems and the flexible joints. The proposed control system satisfies the stability of the two subsystems and copes with the uncertainty of robot dynamics. A sliding observer is designed to estimate the time derivative of the torque applied as input to the rigid part of the robot. For the stability of the observer, it is assumed that the uncertainty of the observed system is bounded. A mRAC algorithm is used for the estimation of the friction forces at the contact point between the end effector and the environment. Finally simulation and experimental results are given, to demonstrate the effectiveness of the proposed controller.