A closed-loop system is developed to control the weld pool geometry, which is specified by the backside weld width. The welding current and speed are selected as the control variables. A MISO ARX model is used to mode...
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ISBN:
(纸本)9783540733737
A closed-loop system is developed to control the weld pool geometry, which is specified by the backside weld width. The welding current and speed are selected as the control variables. A MISO ARX model is used to model this dynamic process. Because of uncertainties in the GTAW process, it is very difficult to design an effective control scheme by conventional modeling and control methods. A model-free adaptive control algorithm has been developed to control the welding process. Simulation confirmed that the developed control system is effective in achieving the desired fusion state.
This paper presents a survey on Riemannian geometry methods for smooth and nonsmooth constrained optimization. Gradient and subgradient descent algorithms on a Riemannian manifold are discussed. We illustrate the meth...
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ISBN:
(纸本)9783540738893
This paper presents a survey on Riemannian geometry methods for smooth and nonsmooth constrained optimization. Gradient and subgradient descent algorithms on a Riemannian manifold are discussed. We illustrate the methods by applications from robotics and multi antenna communication. Gradient descent algorithms for dextrous hand grasping and for sphere packing problems on Grassmann manifolds are presented respectively.
The rolling sphere problem on E-n consists of determining the path of minimal length traced by the point of contact of the oriented unit sphere S' as it rolls without slipping between two boundary points of E-n x ...
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ISBN:
(纸本)9783540738893
The rolling sphere problem on E-n consists of determining the path of minimal length traced by the point of contact of the oriented unit sphere S' as it rolls without slipping between two boundary points of E-n x SOn. This problem is extended to the following cases of rolling: H-n on E-n, S-p(n) on S-sigma(n), and H-p(n) on H-sigma(n), where sigma not equal rho are the radii of the spheres or hyperboloids. The term "rolling" is generalized to an isometric sense: the length of a curve is measured using the Riemannian metric of the stationary manifold while the orientation of the rolling object is described by a matrix from its isometry group. These problems constitute left-invariant optimal control problems on Lie groups, whose Hamiltonian equations reveal certain integrals of motion and show, on the level of Lie algebras, that all of the above problems are governed by a single set of equations.
To avoid producing strong collision between the slave robot and workpiece, the softforce touch control strategy is brought forward by analyzing the dynamics model of the touch force during remote teaching process (RTP...
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ISBN:
(纸本)9783540733737
To avoid producing strong collision between the slave robot and workpiece, the softforce touch control strategy is brought forward by analyzing the dynamics model of the touch force during remote teaching process (RTP). It includes the subsection control strategy of the touch force, and the task self-adapting human-simulation intelligent control (HSIC) touch force. By comparing with the performance of PID controller, the experiment results show that the soft-force touch control strategy can obviously reduce the oscillating scope of touch force, shorten the stabilizing time of touch force, and improve the operated capability of touch force between the remote teaching slave robot and the workpiece.
This paper proposes a novel framework to generate optimal gait trajectories for a one-legged hopping robot via iterative learning control. This method generates gait trajectories which are solutions of a class of opti...
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ISBN:
(纸本)9783540738893
This paper proposes a novel framework to generate optimal gait trajectories for a one-legged hopping robot via iterative learning control. This method generates gait trajectories which are solutions of a class of optimal control problems without using precise knowledge of the plant model. It is expected to produce natural gait movements such as that of a passive walker. Some numerical examples demonstrate the effectiveness of the proposed method.
In this paper we present some additional results regarding the pumping-damping strategy for swinging up a pendulum introduced in [3]. Here, the family of energy functions is enlarged and the corresponding pumping-damp...
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ISBN:
(纸本)9783540738893
In this paper we present some additional results regarding the pumping-damping strategy for swinging up a pendulum introduced in [3]. Here, the family of energy functions is enlarged and the corresponding pumping-damping functions are proposed giving rise to new smooth controllers that swing up and stabilize the pendulum. Furthermore, a generalization of the stability criterion is introduced for this larger class of controllers.
An object oriented model of robotic work cell is proposed in this paper based on domain analysis of robotic work cell. An easy robot programming application is implemented which hide the complexity of RAPID (ABB robot...
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ISBN:
(纸本)9783540733737
An object oriented model of robotic work cell is proposed in this paper based on domain analysis of robotic work cell. An easy robot programming application is implemented which hide the complexity of RAPID (ABB robot programming language) by an intuitive graphical programming approach. Customer test has demonstrated that it can simplify and speed up the process of programming ABB robot in plastic injection molding application.
Task allocation and motion coordination are the main factors that should be considered in the coordination of multiple autonomous vehicles in material handling systems. Presently, these factors are handled in differen...
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ISBN:
(纸本)9783540733737
Task allocation and motion coordination are the main factors that should be considered in the coordination of multiple autonomous vehicles in material handling systems. Presently, these factors are handled in different stages, leading to a reduction in optimality and efficiency of the overall coordination. However, if these issues are solved simultaneously we can gain near optimal results. But, the simultaneous approach contains additional algorithmic complexities which increase computation time in the simulation environment. This work aims to reduce the computation time by adopting a parallel and distributed computation strategy for Simultaneous Task Allocation and Motion Coordination (STAMC). In the simulation experiments, each cluster node executes the motion coordination algorithm for each autonomous vehicle. This arrangement enables parallel computation of the expensive STAMC algorithm. Parallel and distributed computation is performed directly within the interpretive MATLAB environment. Results show the parallel and distributed approach provides sub-linear speedup compared to a single centralised computing node.
The purpose of this paper is to apply methods from geometric mechanics to the analysis and control of bipedal robotic walkers. We begin by introducing a generalization of Routhian reduction, functional Routhian Reduct...
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ISBN:
(纸本)9783540738893
The purpose of this paper is to apply methods from geometric mechanics to the analysis and control of bipedal robotic walkers. We begin by introducing a generalization of Routhian reduction, functional Routhian Reduction, which allows for the conserved quantities to be functions of the cyclic variables rather than constants. Since bipedal robotic walkers are naturally modeled as hybrid systems, which are inherently nonsmooth, in order to apply this framework to these systems it is necessary to first extend functional Routhian reduction to a hybrid setting. We apply this extension, along with potential shaping and controlled symmetries, to derive a feedback control law that provably results in walking gaits on flat ground for a three-dimensional bipedal walker given walking gaits in two dimensions.
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