In teleoperated robotic systems, a user controls a robotic manipulator via an input device. Generally the position and velocity commands generated by the user in free space can be arbitrary in the workspace of the inp...
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ISBN:
(纸本)9783540733737
In teleoperated robotic systems, a user controls a robotic manipulator via an input device. Generally the position and velocity commands generated by the user in free space can be arbitrary in the workspace of the input device. However, due to the mechanical limitation and workspace constraints of a manipulator, the manipulator cannot always exactly follow the input command and often runs into a stop. This paper proposes a haptic teleoperation method to enable a user to control a manipulator conveniently and without violating constraints of the manipulator. The configuration constraints and mechanical limits, such as singularities and joint limits, are converted into a constraining force. It is then fed back to the user via a haptic device to restrict the motion of the user's hand so that the manipulator can be operated smoothly without being interrupted by constraint violation. Experimental results demonstrate the feasibility of the proposed method.
We begin with an interpretation of the L(1)-distance between two power spectral densities and then, following an analogous rationale, we develop a natural metric for quantifying distance between respective covariance ...
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ISBN:
(纸本)9783540735694
We begin with an interpretation of the L(1)-distance between two power spectral densities and then, following an analogous rationale, we develop a natural metric for quantifying distance between respective covariance matrices.
In this paper an internal model based approach to implicit Fault Tolerant control for port-Hamiltonian systems is presented: the main idea is to cast the problem into a regulation problem in presence of input disturba...
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ISBN:
(纸本)9783540738893
In this paper an internal model based approach to implicit Fault Tolerant control for port-Hamiltonian systems is presented: the main idea is to cast the problem into a regulation problem in presence of input disturbances representing exogenous effects of possible faults;this can be solved following an adaptive internal model based approach. The theoretical machinery exploited is specialized for the energy-based port-Hamiltonian formalism in order to prove the global asymptotical stability of the solution. Finally an application example is presented in order to deeply point out the effectiveness of the design procedure presented: a Fault Tolerant control problem is solved for a magnetic levitation system affected by periodic voltage disturbances.
This paper addresses on key intelligentized technologies for robotic welding, which contains computer vision technology for recognizing weld seam and starting, locally autonomous guiding and tracking seam, real-time i...
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ISBN:
(纸本)9783540733737
This paper addresses on key intelligentized technologies for robotic welding, which contains computer vision technology for recognizing weld seam and starting, locally autonomous guiding and tracking seam, real-time intelligent control of weld penetration, seam forming and welding pool dynamics. A locally autonomous intelligentized welding robot (LAIWR) systems was developed, which could realize detecting and recognizing weld surroundings by visual sensing technology, identifying the initial position of weld seam, autonomously guiding weld torch to the weld starting and tracking the seam, real-time control of pulsed GTAW pool dynamics by vision computing and intelligent strategies.
This paper proposes a support vector machine (SVM)-based fuzzy system (SVM-FS), which has good comprehensibility as well as satisfactory generalization capability. SVM provides a mechanism to extract support vectors f...
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ISBN:
(纸本)9783540733737
This paper proposes a support vector machine (SVM)-based fuzzy system (SVM-FS), which has good comprehensibility as well as satisfactory generalization capability. SVM provides a mechanism to extract support vectors for generating fuzzy IF-THEN rules from training data. In SVM-FS, SVM is used to extract IF-THEN rules;the fuzzy basis function inference system is adopted as the fuzzy inference system. Furthermore, we theoretically analyze the proposed SVM-FS on the rule extraction and the inference method comparing with other fuzzy systems;comparative tests are performed using benchmark data. The analysis and the experimental results show that the new approach possesses high comprehensibility as well as satisfactory generalization capability.
It is a typical situation in modern modeling that a total model is built up from simpler submodels, or modules, for example residing in a model library. The total model could be quite complex, while the modules are we...
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ISBN:
(纸本)9783540735694
It is a typical situation in modern modeling that a total model is built up from simpler submodels, or modules, for example residing in a model library. The total model could be quite complex, while the modules are well understood and analysed. A procedure to decide global parameter identifiability for such a collection of model equations of differential-algebraic nature is suggested. It is shown how to make use of the natural modularization of the model structure. Basically, global identifiability is obtained if and only if each module is identifiable, and the connecting signals can be retrieved from the external signals, without knowledge of the values of the parameters.
This paper summarizes the optimization and learning methods using Estimation of Distribution Algorithm (EDA) to generate and plan biped gaits. By formulating biped robot as mass link structure, dynamically stable and ...
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ISBN:
(纸本)9783540733737
This paper summarizes the optimization and learning methods using Estimation of Distribution Algorithm (EDA) to generate and plan biped gaits. By formulating biped robot as mass link structure, dynamically stable and energy efficient gait generation problem is extracted as a multi-constrained and multi-objective optimization problem. Instead of traditional intelligent algorithms, EDAs are proposed to solve this high dimensional optimization problem for its clear structure and simple parameter. Simulation results of different EDAs based optimization algorithms with comparison to genetic algorithm on biped gait optimization are shown in this paper to find out the advantages and disadvantages of the proposed biped gait generation algorithms.
This paper introduces some intelligent control strategies for marine craft. By looking at some existing problems in this area, e.g. the uncertainties and nonlinearities in ship dynamic model and time delay in ship act...
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ISBN:
(纸本)9783540733737
This paper introduces some intelligent control strategies for marine craft. By looking at some existing problems in this area, e.g. the uncertainties and nonlinearities in ship dynamic model and time delay in ship actuator system, three types of control strategies are studied, namely, robust PID control for ship steering, adaptive fuzzy robust tracking control (AFRTC) for ship steering, and adaptive fuzzy Hinf control for ship roll stabilization. The effectiveness of the three control strategies are demonstrated by ship simulation. This paper is dedicated to the memory of Professor YS Yang for his pioneer work on robust adaptive fuzzy control of marine craft.
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