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检索条件"任意字段=3rd International Conference on Informatics in Control, Automation and Robotics"

共 2674 条记录，以下是171-180 订阅

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Development of A Pulse-Type Servo Drive System and the Application on a 3-Axises Robot

Development of A Pulse-Type Servo Drive System and the Appli...

引用

2nd international Asia conference on informatics in control, automation and robotics (CAR)

作者： Chen Xian-feng He Ya-fei Shen Xin-di Chen Qingzhang Shanghai Second Polytech Univ Coll Mech & Elect Engn Shanghai Peoples R China CSLG Changshu Inst Technol Dept Automobile Engn Mech Engn Coll Changshu Peoples R China

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.

关键词： servo drive system pulse-type integrated application

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Discrete-Time PIDA controller Designed by Tustin's Method with and without Frequency Pre-warping 3

Discrete-Time PIDA Controller Designed by Tustin's Method wi...

引用

3rd international conference on control and robotics Engineering (ICCRE)

作者： Ukakimaparn, Prapart Khwunthong, Mathee Trisuwannawat, Thanit Pannil, Pittaya King Mongkuts Inst Technol Ladkrabang Fac Engn Dept Instrumentat & Control Engn Bangkok Thailand

ISBN: (纸本)9781538666630

This paper proposes the formula used for finding the continuous-time PIDA (Proportional-Integral-Derivative-Acceleration) controller's parameters based on pole placement technique. Also, provide the formulas for designing the discrete-time PIDA controllers for both of Tustin's method with and without frequency pre-warping. The designers can use the frequency pre-warping to get the better specification as desired. Moreover, as both of these discrete-time PIDA controllers, theirs transfer functions are proper. Then, they are easy to implement in real-time by the Observable Canonical Form of the difference equations.

关键词： component PIDA controller pole placement Tustin's method with and without frequency pre-warping

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Trajectory Tracking control Strategy using Co-Reference for Rear-Steered Vehicle 3

Trajectory Tracking Control Strategy using Co-Reference for ...

引用

3rd international conference on control and robotics Engineering (ICCRE)

作者： Pamosoaji, Anugrah K. Univ Atma Jaya Yogyakarta Fac Ind Technol Yogyakarta Indonesia

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.

关键词： Trajectory tracking control automated guided vehicle distance reduction

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control and error management for a flexible assembly cell 3

Control and error management for a flexible assembly cell

引用

3rd international conference on Cormputer Integrated Manufacturing, CIM 1992

作者： Meijer, Bart R. Stigter, Jurgen Control Laboratory Department of Electrical Engineering Delft University of Technology P.O. Box 5031 GA DelftNL 2600 Netherlands Knowledge Based System Group Department of Technical Mathematics and Informatics Delft University of Technology Julianalaan 132 BC DelftNL 2628 Netherlands

ISBN: (纸本)0818626151

A flexible assembly cell is considered to be an essential building brick for flexible automation of small to medium sized order-based industries. In order to be able to respond adequately to market changes a production facility that can be reprogrammed or even reconfigured in a very short time is vital. Such a system will have to exhibit some form of intelligent behavior. By intelligent behavior we mean that this system should be able to learn from experience. The experience gained in making subsequent batches of products will be used to increase the efficiency of future batches. Unreliable strategies will be replaced by more reliable ones, actual cost data will make it possible to choose a better plan. This paper will focus on the design of a reference model for planning, control and error management for a flexible assembly cell. Furthermore a parameter set forming the basis of a cost function to evaluate strategies is presented. © 1992 EEE.

关键词： Cost functions

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Detection and control of Non-linear behavior by Sliding Modes control in a 3 d.o.f. robot

Detection and control of Non-linear behavior by Sliding Mode...

引用

5th international conference on informatics in control, automation and robotics

作者： Urrea, Claudio Jamett, Marcela Univ Santiago Chile Dept Ingn Elect Santiago Chile

ISBN: (纸本)9789898111319

Results from simulations of a Planar Robot Model, when it is placed in the same plane of the action of the gravity force are reviewed in this paper. The model includes several parameters usually discarded in current models, such as Driving, and Non-linear Friction, for an industrial-type robotic manipulator and its actuators. When we develop more exact representations of the dynamics of a manipulator and their actuators, chaotic behavior is detected for certain parameter values of the robotic manipulator. This chaotic behavior - without external inputs - was exactly controlled by Sliding Modes.

关键词： Planar Robot Model chaotic behaviour Sliding Modes

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HIERARCHICAL PROBABILISTIC ESTIMATION OF ROBOT REACHABLE WORKSPACE

HIERARCHICAL PROBABILISTIC ESTIMATION OF ROBOT REACHABLE WOR...

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6th international conference on informatics in control, automation and robotics

作者： Yang, Jing Dymond, Patrick Jenkin, Michael York Univ Dept Comp Sci & Engn Toronto ON M3J 2R7 Canada

ISBN: (纸本)9789896740009

Estimating a robot's reachable workspace is a fundamental problem in robotics. For simple kinematic chains within an empty environment this computation can be relatively straightforward. For mobile kinematic structures and cluttered environments, the problem becomes more challenging. An efficient probabilistic method for workspace estimation is developed by applying a hierarchical strategy and developing extensions to a probabilistic motion planner. Rather than treating each of the degrees of freedom (DOFs) 'equally', a hierarchical representation is used to maximize the volume of the robot's workspace that is identified as reachable for each probe of the environment. Experiments with a simulated mobile manipulator demonstrate that the hierarchical approach is an effective alternative to the use of an estimation process based on the use of a traditional probabilistic planner.

关键词： Reachable workspace Probabilistic motion planning Mobile robotics

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Research and Development of Data Acquisition System for Cement Enterprises Based on Multi-threading Technology 18

Research and Development of Data Acquisition System for Ceme...

引用

3rd international conference on robotics, control and automation (ICRCA) / 3rd international conference on robotics and Machine Vision (ICRMV)

作者： Zhu He Jing Shaohong Wang Xiaohong Jinan Univ Room 1012Informat Bldg Jinan Shandong Peoples R China Jinan Univ Room 1010Informat Bldg Jinan Shandong Peoples R China Jinan Univ Room 100Informat Bldg336 Nan Xin Zhuang West Rd Jinan Shandong Peoples R China

ISBN: (纸本)9781450365307

This paper aims at the problems of low CPU utilization, poor independence between tasks and poor stability of the system, which are common in the single-threaded data acquisition system of traditional cement enterprises, and carry out multi-threaded research and development for the data acquisition system of cement enterprises. The research and development uses the C# to complete the multi-threaded technology, uses the SQL Sever 2012 to store the data, and realizes the collection of each data in the cement enterprise under the Visual Studio 2012 development environment. This paper first introduces the research of multi-threaded technology, and then introduces the design of this multi-threaded data acquisition system software and the design of specific modules. At the end of this paper, the design of data storage table structure and the realization of its function are introduced.

关键词： Cement enterprise Data collection Multi-threading research and development

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Seam tracking control of welding robotic manipulators based on adaptive chattering-free sliding-mode control technology 11

Seam tracking control of welding robotic manipulators based ...

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11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Hu, Youmin Liu, Jie Wu, Bo Ge, Ming-Feng School of Mech. Sci. and Eng. Huazhong University of Science and Technology Luoyu Rd 1037 Wuhan China College of Automation Huazhong University of Science and Technology Luoyu Rd 1037 Wuhan China

ISBN: (纸本)9789897580406

A novel adaptive sliding mode control (ASMC) algorithm is derived to deal with seam tracking control problem of welding robotic manipulator, during the process of large-scale structure component welding. The controllers robustness is verified by the Lyapunov stability theory, and the analytical results show that the proposed algorithm enables better high-precision tracking performance with chattering-free than classic sliding mode control (SMC) algorithm.

关键词： Sliding mode control

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An application of real-time operating system in high speed and high precision motion control systems

An application of real-time operating system in high speed a...

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3rd IEEE international conference on automation Science and Engineering, IEEE CASE 2007

作者： Donglin, Pu Xinjun, Sheng Weijun, Zhang Han, Ding IEEE Robotics Institute School of Mechanical Engineering Shanghai Jiaotong University No.800 Dongchuan Rd. Shanghai 200240 China

ISBN: (纸本)1424411548

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, flexibility and low cost. In this paper, the RTX-based control system is considered from RTOS evaluation, system-level design, to experiments and applications. A novel software structure consisting of Windows, Labview or Matlab, and RTX is presented, which makes the trade-off between real-time tasks running and data processing or displaying. Finally, the control system is successfully applied in two direct-drive high speed and high precision motion platforms. © 2007 IEEE.

关键词： Real time systems

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Min-Max Merged with Quadratic Cost for Repetitive control of Minimum Phase Systems 3

Min-Max Merged with Quadratic Cost for Repetitive Control of...

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3rd international conference on control and robotics Engineering (ICCRE)

作者： Prasitmeeboon, Pitcha King Mongkuts Inst Technol Ladkrabang Fac Engn Bangkok 10520 Thailand

ISBN: (纸本)9781538666630

Repetitive control (RC) is an effective method to eliminate the effects of a periodic disturbance to a feedback control system. Applications of RC include an active vibration isolation mount in spacecraft, servomechanisms, and robotic manipulators. Previous work develops a repetitive controller design for non-minimum phase systems using optimization in frequency domain. The objective of the design is to minimize the maximum error merged with quadratic cost, formulated as quadratically constrained linear programming. This work studies how to make use of the Min-Max merged with quadratic cost design for minimum phase systems. An understanding of how to make design choices for the interchange between Min-Max and quadratic cost for each frequency range is developed. The performance of the proposed design choice evaluated by using a simulation of a commercial robot link shows that the design can produce an effective compensator design for minimum phase systems.

关键词： component Repetitive control Min-Max optimization Convex Programming

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