The highly nonlinear coupled dynamics in a parallel-kinematics manipulator typically cannot be simply treated as disturbance. Model-based control schemes are usually used to address this issue. This paper presents the...
详细信息
ISBN:
(纸本)9798350307573;9798350307566
The highly nonlinear coupled dynamics in a parallel-kinematics manipulator typically cannot be simply treated as disturbance. Model-based control schemes are usually used to address this issue. This paper presents the improvement of contouring accuracy of a planar 3PRR parallel-kinematics manipulator by applying two model-based control schemes namely decentralized PID control with centralized computed torque feedforward and centralized inverse dynamics control with feedforward. The simulation shows that both control schemes provide better contouring accuracy than decentralized PID control scheme. Furthermore, it is shown that the decentralized PID control with centralized computed torque feedforward outperforms the centralized inverse dynamics control with feedforward given an accurate dynamic model of the manipulator.
Industrial robots exhibit how human labor can be automated due to the evolution of automation. The control of robotic manipulators for industrial applications is a booming field of research. Precision is one of the ma...
详细信息
The present book includes a set of selected extended papers from the 12th internationalconference on informatics in control, automation and robotics (ICINCO 2015), held in Colmar, France, from 21 to 23 July 2015. The...
详细信息
ISBN:
(数字)9783319318981
ISBN:
(纸本)9783319318967
The present book includes a set of selected extended papers from the 12th internationalconference on informatics in control, automation and robotics (ICINCO 2015), held in Colmar, France, from 21 to 23 July 2015. The conference brought together researchers, engineers and practitioners interested in the application of informatics to control, automation and robotics. Four simultaneous tracks will be held, covering Intelligent control Systems, Optimization, robotics, automation, Signal Processing, Sensors, Systems Modelling and control, and Industrial Engineering, Production and Management. informatics applications are pervasive in many areas of control, automation and robotics. ICINCO 2015 received 214 submissions, from 42 countries, in all continents. After a double blind paper review performed by the Program Committee, 14% were accepted as full papers and thus selected for oral presentation. Additional papers were accepted as short papers and posters. A further selection was made after the conference, based also on the assessment of presentation quality and audience interest, so that this book includes the extended and revised versions of the very best papers of ICINCO 2015. Commitment to high quality standards is a major concern of ICINCO that will be maintained in the next editions, considering not only the stringent paper acceptance ratios but also the quality of the program committee, keynote lectures, participation level and logistics.
The paper presents a methodology for the certification of modified starch based on an automated calculation of the degree of substitution of hydroxyl groups in polysaccharides. The results can be useful for assessing ...
详细信息
To achieve an exact motion that is following a reference position in a force controlled process, it is necessary to reduce the influence of disturbances in the force signal as much as possible. In this paper an adapti...
详细信息
ISBN:
(纸本)9781509060887
To achieve an exact motion that is following a reference position in a force controlled process, it is necessary to reduce the influence of disturbances in the force signal as much as possible. In this paper an adaptive compliance controller for use with a direct physical human-robot interaction is introduced. The task of this controller is to stabilize the motion guidance of a manual force guided robot control and to ensure at the same time a fast and stable behavior. One problem is the force signal as a sole reference input of the process. In addition the human robot interaction can lead to feedback oscillation, which has to be damped, so it does not endanger persons or equipment. With an adjustment of parameters, it is possible to apply the regulation method for other articulated robot models and thus to increase its robustness. The experiments show a path stabilization of the robot on oscillation loaded guidance. At the same time the regulation does not intervene on free space guidance without disturbances. Thus a high velocity on the Tool Center Point can be used in comparison to other approaches relying on high damping only.
This paper presents an enhanced fuzzy sliding mode controller (EFSMC) for improving the tracking performance of 3-DOF Parallel link manipulator, in which the fuzzy logic system is adopted as the adaptation mechanism t...
详细信息
ISBN:
(纸本)9781424451944
This paper presents an enhanced fuzzy sliding mode controller (EFSMC) for improving the tracking performance of 3-DOF Parallel link manipulator, in which the fuzzy logic system is adopted as the adaptation mechanism to tune the gain of the sliding mode controller. The EFSMC can drive the state variables of 3-DOF Parallel link manipulator to hit a user -defined sliding surface quickly and slide along it. The sliding and global stability conditions are formulated and analyzed in terms of Lyapunov full quadratic form. To meet the real-time requirement of the parallel link manipulator, the region -wise linear technology is introduced to reduce the fuzzy rules of the EFSMC. The simulation results have shown that the proposed controller can achieve a higher performance with minimum reaching time and smooth control actions. In addition, it shows that the controller is effective and robust to the parametric variation and external disturbance.
This paper investigates the dynamics of a 3-link gymnastic robot using both a simulation and an experiment to identify the dominant parameters required for a desired front-flip motion. The objectives of this study are...
详细信息
Growing interest exists in the evaluation of mobile robots performing autonomous navigation. The environment where the robot operates plays an important role in the successful execution of its autonomous mission. It i...
详细信息
ISBN:
(纸本)9781728190327
Growing interest exists in the evaluation of mobile robots performing autonomous navigation. The environment where the robot operates plays an important role in the successful execution of its autonomous mission. It is therefore crucial to assess the complexity of the environment where the vehicle is deployed. In this paper, we identify two parameters which represent meaningful metrics for the evaluation of how challenging a 2D environment is for autonomous navigation. We show how these two parameters can be estimated with a CNN architecture, given as input only a map of the environment. The method is validated on two different datasets and proves successful in achieving very accurate prediction results.
A novel semiautomatic ribbon roads extraction method for high spatial resolution remotely sensed (HSRRS) imagery based on self-adaptively variable bandwidth template matching is proposed in this letter. At first, a hu...
详细信息
暂无评论