This paper addresses the development and applications of the control system based on the real-time operating system (RTOS) RTX which constructs an open architecture control system with real-time performance, flexibili...
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In the passive tele-rehabilitation process, the safety is the most important thing for patients avoiding the secondary damage of the impaired upper limb. Aiming at adjusting the appropriated contact force in time duri...
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ISBN:
(纸本)9789897584428
In the passive tele-rehabilitation process, the safety is the most important thing for patients avoiding the secondary damage of the impaired upper limb. Aiming at adjusting the appropriated contact force in time during the training exercises, an adaptive impedance control is proposed for the slave side. At the same time, the trajectory control based on the Hamilton-Jacobi-Inequality theory and the RBF Neural network is performed for the master manipulator operated by therapists. The stability is analyzed and numerical simulations show the efficiencies and high performances of the proposed method.
A trajectory tracking control strategy using a co-reference for a rear-steered non-holonomic vehicle is presented. Given a reference moving on a path, the vehicle has to track the reference and reduce the vehicle-to-r...
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ISBN:
(纸本)9781538666630
A trajectory tracking control strategy using a co-reference for a rear-steered non-holonomic vehicle is presented. Given a reference moving on a path, the vehicle has to track the reference and reduce the vehicle-to-reference distance to the minimum possible distance. In addition, the vehicle has to maintain the change rate of the vehicle-to-reference distance non-positive at the neighborhood of the reference from any initial configuration. A class of barrier Lyapunov Function (BLF) is utilized to analyze the stability of the proposed control strategy. The co-reference is used to guide the vehicle to enter the neighborhood of the reference from the rear side of the reference. The performance of the proposed control strategy is evaluated by simulations and the results are presented.
In this paper, a fuzzy control with friction compensation is developed to deal with a nonlinear pneumatic positioning system characterized with friction, unknown system model, and external disturbance. In order to enh...
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ISBN:
(纸本)9789897581984
In this paper, a fuzzy control with friction compensation is developed to deal with a nonlinear pneumatic positioning system characterized with friction, unknown system model, and external disturbance. In order to enhance the positioning accuracy, a control scheme is designed for compensating the friction effect of the moving stage. Positioning experiments based on the derived control strategy were performed to show and validate the proposed control performance. As two experimental examples of positioning results in a total of 30 experimental trials for the stepwise input positioning controls, the positioning accuracy with less than 30nm was verified for both forward and backward actuations with step commands. Hence, the control scheme provided in this paper that could significantly improve the positioning performance of a traditional pneumatic positioning system is demonstrated.
This paper proposes an autonomous approach for repairing leakage at the international Space Station (ISS) using the NASA Astrobee robot with the 3rd Kibo Robot Programming Challenge (KRPC) guidelines provided by JAXA....
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ISBN:
(纸本)9798350307573;9798350307566
This paper proposes an autonomous approach for repairing leakage at the international Space Station (ISS) using the NASA Astrobee robot with the 3rd Kibo Robot Programming Challenge (KRPC) guidelines provided by JAXA. We bring into play image processing and analysis from the Astrobee Nav Cam data, circle detection algorithms, AR tag detection techniques, autonomous navigation, and a Visual Projective Localization And Mapping (VPLAM) approach for irradiating lasers with excellent precision at the Astrobee Robot Simulator. In addition, we discuss the various capabilities of the Astrobee Robots onboard the ISS and how they can facilitate the delivery of such an autonomous mission in emergencies. Lastly, we walk through ways to deal with randomness and uncertainty while operating, ensuring robustness and accuracy. Ultimately, we scored a precision of up to 0.03 cm on the KRPC online simulator.
This article present the design and construction of a PID controller for direct current motors motion control in low-cost robotic applications. The reasons which led us to the make the proposal and design of the syste...
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The tire burst used to cause fatal traffic accidents, threatening the safety of drivers and property, in cognizance of this problem, it comes up with an intelligent tire safety pre-alarm system. The hardware component...
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ISBN:
(纸本)9781424451944
The tire burst used to cause fatal traffic accidents, threatening the safety of drivers and property, in cognizance of this problem, it comes up with an intelligent tire safety pre-alarm system. The hardware components and software design means of tire pressure monitoring system are introduced. The whole system is composed of a host module and four wireless sensor micro-extensions. The four wireless sensor micro-extensions are installed in tires, monitoring the pressure and temperature of tires in real time and sending them to center monitoring host through wireless module MC68HC908RF2. The monitoring host adopts MC33594 for receiving data, and uses CPU S3C2440 for processing data and displaying. Once the tire comes out abnormal conditions, for instance, the pressure is high or low, or leaking and excess temperature, the monitoring host give out audible and visible signals to driver for warning of pulling up and taking relevant measure to avoid serious accidents.
The past four decades are characterized by the implementation of digital solutions in the production sector, and the advent of robots being used for rigid and fast material handling. This time domain is the implementa...
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ISBN:
(纸本)9781728112138
The past four decades are characterized by the implementation of digital solutions in the production sector, and the advent of robots being used for rigid and fast material handling. This time domain is the implementation phase of the 3rd Industrial Revolution. By today, we can witness the evolution (rather than revolution) of new technologies, that enable far more changes in the digitized factory environment compared to the previous transitions. The authors selected events and episodes from this time-frame to highlight and give appreciation to the pioneers of robotics in Hungary. The authors demonstrate the harmonized vision for the next decade, how the manufacturing in Europe might deepen research in robotics and in Bio-transition in manufacturing.
The principles and structure of a new economical pulse-type servo drive system were presented. One part is main control board for servo motor with incremental encoder, which receive pulse position command form upper c...
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ISBN:
(纸本)9781424451944
The principles and structure of a new economical pulse-type servo drive system were presented. One part is main control board for servo motor with incremental encoder, which receive pulse position command form upper controller. With the scholastic calculation in main control part of servo drive, and the dead time of PWM signals was compensated by hardware circuit, this drive system has a high performance in dynamic response and stability. Another is power board, to realize the inverter function and supply electronic power. Due to the suitable dead time of PWM inverter, the outputs variable frequency voltage of the drive is more suitable for controlling of servo motor. For the purpose of small volume, the main control part and power board were integrated. The results of time and frequency domain analyzing show that the servo drive is performance enhancement of high bandwidth control and fast response. The application of the servo drive system on a 3-axises robot is described. As highly integrated of this servo drive system, it provides an economical solution in servo motor control for robot and flexible manufacture and can be sustained without significant design effort.
The proceedings contain 13 papers. The topics discussed include: constrained sliding mode control for uncertain manipulator systems with prescribed performance;adaptive control of teleoperation systems with uncertaint...
ISBN:
(纸本)9781450388467
The proceedings contain 13 papers. The topics discussed include: constrained sliding mode control for uncertain manipulator systems with prescribed performance;adaptive control of teleoperation systems with uncertainties: a survey;the design and control system of a home service robot;impact of robotic process automation in supply chain: a model for task selection;fast and accurate pose estimation for industrial workpieces robotic picking;graph neural network in traffic forecasting: a review;an investigation on all-optical multicast technology in all-optical networks;analyze the impact of the epidemic on New York taxis by machine learning algorithms and recommendations for optimal prediction algorithms;and influence of excavation patterns on stress–deformation of landslide crossed orthogonally by tunnel.
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