The proceedings contain 140 papers. The special focus in this conference is on Intelligent robotics and Applications. The topics include: Hysteresis modeling of piezoelectric actuators using the fuzzy system;On PSO Ba...
ISBN:
(纸本)9783642165832
The proceedings contain 140 papers. The special focus in this conference is on Intelligent robotics and Applications. The topics include: Hysteresis modeling of piezoelectric actuators using the fuzzy system;On PSO Based bouc-wen modeling for piezoelectric actuator;operator-based robust nonlinear control for ionic polymer metal composite with uncertainties and hysteresis;Modeling of hysteresis nonlinearity based on generalized bouc-wen model for GMA;motion dynamics modelling of an electric wheel robot;sliding Mode control of hybrid joints for wheeled mobile manipulators with markovian switching and bounded torques;timestamp based predictive robot control system over real-time industrial ethernet;design and experimental research on a fast zero-finding algorithm based on the incremental angle encoder;decentralized synchronization and output tracking control of nondiffusively coupled complex dynamical networks;changeable grasping force unit for under-actuated gripper with self-adaptive grasping;manipulation of a mobile modular manipulator interacting with the environment with the assistance of tactile sensing feedback;An RTC-based intelligent programming system for service robots;Marine engine state monitoring system using distributed precedence queue mechanism in CAN networks;modeling and fault tolerant controller design for pm spherical actuator;artificial neural network to predict the surface maximum settlement by shield tunneling;applying grey-fuzzy-fuzzy rule to machine vision based unmanned automatic vehicles;AWARE: Autonomous wireless agent robotic exchange;application of wearable miniature non-invasive sensory system in human locomotion using soft computing algorithm;The mathematical model and control scheme of a four-legged robot based on GZ-I and note module;electromechanical coupling model for cutterhead driving system of shield machines.
Predictive method which allows applying constraints in the process of designing control system has wide practical significance. The method developed in the article consists of feedback linearization and linear quadrat...
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ISBN:
(纸本)9789898425027
Predictive method which allows applying constraints in the process of designing control system has wide practical significance. The method developed in the article consists of feedback linearization and linear quadratic control applied to obtained linear system. Employment of interpolation method introduces constraints of variables into control system design. The control algorithm was designed for a model of exothermic reactor, results illustrate its operation in comparison with PI control.
This paper focuses on the implementation of robot-assisted stroke rehabilitation using electromyography (EMG) as the interface between the robot and subjects. The key issue in implementing EMG for this application is ...
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ISBN:
(纸本)9783642165863
This paper focuses on the implementation of robot-assisted stroke rehabilitation using electromyography (EMG) as the interface between the robot and subjects. The key issue in implementing EMG for this application is the conversion process of EMG signal into torque/force, which is used as a input to the control system. This paper presents a methodology of EMG signal conversion into estimated joint torque by using simulated annealing (SA) technique. Basic principle of SA, formulation, and implementation to the problem are discussed in this paper. Experimental studies with real life EMG data have been carried out for five subjects. These studies are used to evaluate the feasibility of the methodology proposed for robot-assisted stroke rehabilitation problem. Experimental investigations and results are discussed at the end of the paper.
The proceedings contain 140 papers. The special focus in this conference is on Intelligent robotics and Applications. The topics include: Hysteresis modeling of piezoelectric actuators using the fuzzy system;On PSO Ba...
ISBN:
(纸本)9783642165863
The proceedings contain 140 papers. The special focus in this conference is on Intelligent robotics and Applications. The topics include: Hysteresis modeling of piezoelectric actuators using the fuzzy system;On PSO Based bouc-wen modeling for piezoelectric actuator;operator-based robust nonlinear control for ionic polymer metal composite with uncertainties and hysteresis;Modeling of hysteresis nonlinearity based on generalized bouc-wen model for GMA;motion dynamics modelling of an electric wheel robot;sliding Mode control of hybrid joints for wheeled mobile manipulators with markovian switching and bounded torques;timestamp based predictive robot control system over real-time industrial ethernet;design and experimental research on a fast zero-finding algorithm based on the incremental angle encoder;decentralized synchronization and output tracking control of nondiffusively coupled complex dynamical networks;changeable grasping force unit for under-actuated gripper with self-adaptive grasping;manipulation of a mobile modular manipulator interacting with the environment with the assistance of tactile sensing feedback;An RTC-based intelligent programming system for service robots;Marine engine state monitoring system using distributed precedence queue mechanism in CAN networks;modeling and fault tolerant controller design for pm spherical actuator;artificial neural network to predict the surface maximum settlement by shield tunneling;applying grey-fuzzy-fuzzy rule to machine vision based unmanned automatic vehicles;AWARE: Autonomous wireless agent robotic exchange;application of wearable miniature non-invasive sensory system in human locomotion using soft computing algorithm;The mathematical model and control scheme of a four-legged robot based on GZ-I and note module;electromechanical coupling model for cutterhead driving system of shield machines.
Co-simulation of ADAMS and MATLAB for designing and developing mechatronics and control system is presented in this paper. The co-simulation technology provides an avenue for realizing mechatronics system design loop ...
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ISBN:
(纸本)9783642165863
Co-simulation of ADAMS and MATLAB for designing and developing mechatronics and control system is presented in this paper. The co-simulation technology provides an avenue for realizing mechatronics system design loop and control system design synchronously without the need for building prototypes. The virtual prototype developed in ADAMS can be used to investigate dynamic behavior in a 3-dimensional environment. Though ADAMS has the capability of implementing a closed loop control of the virtual prototype, its capability is quite restricted. On the other hand, MATLAB is well known for designing control systems. Co-simulation allows us to get the benefit of both. The co-simulation platform was used to verify different features of a unicycle robot. Mechanical drawings of the robot are first created using CAD software, e.g., SOLIDWORKS and imported into the ADAMS. Dynamics of the robot in autonomous mode are simulated using the co-simulation platform in which the controller is designed and implemented using MATLAB. Simulation results can then be used to modify mechanical design and improve the control method. Although the virtual platform is tested for one specific system, it can be easily used for design of other mechatronics systems and control methods e.g., model free control, learning control and developmental robotics.
Accurate and effective parameter identification is an important engineering task in high performance control system design. One emerging approach to effectively identify such nonlinear or dynamic unknown parameters is...
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ISBN:
(纸本)9789746724913
Accurate and effective parameter identification is an important engineering task in high performance control system design. One emerging approach to effectively identify such nonlinear or dynamic unknown parameters is to use Particle Swarm Optimization (PSO) algorithm. Linear Permanent Magnet (LPM) motor is a high performance actuator employed in many applications that require direct linear motion without mechanical transmission for high acceleration and accurate positioning. Therefore, accurate motor parameters are necessary to effectively control the LPM motors. This paper proposes a simple PSO based method with chirp inputs to identify the LPM motor's parameters. The simulations and experiments are conducted to verify the results and determine the effectiveness of the proposed method.
Personalization, a topmost concern of modern recommendation systems (RS), is intended to predict individual motivation of a customer for this or that choice. It depends on many factors forming explicit and implicit de...
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This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball ...
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ISBN:
(纸本)9789746724913
This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforwardcontroller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforwardcontroller (FFC-PFC) are presented.
This paper addresses both path tracking and local trajectory generation for autonomous ground vehicles. An optimisation based two-level control framework is proposed for this task. The high-level control operates in a...
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