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检索条件"任意字段=3rd International Conference on Robotics and Control Engineering, RobCE 2023"

共 3888 条记录，以下是181-190 订阅

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A Method to Compensate Interaction between Actuator Dynamics and control Allocator under Incremental Nonlinear Dynamic Inversion controller 3

A Method to Compensate Interaction between Actuator Dynamics...

引用

3rd international conference on Automation, control and robotics engineering (CACRE)

作者： Li, Xiang Jiang, Yi Zhang, Jiannan Shi, Shaoyan Zhao, Liangyu Beijing Inst Technol Sch Aerosp Engn Beijing 100081 Peoples R China Tech Univ Munich Inst Flight Syst Dynam D-85748 Garching Germany

When designing flight control allocator for an over-actuated flight system, actuator dynamics, generally, are assumed to be ideal since the bandwidths of actuators are much larger than the frequency of aircraft. However, under incremental nonlinear dynamic inversion controller, the interaction between the constrained control allocation frame and actuator dynamics can cause serious consequence. In this work, a method is developed to compensate for actuator dynamics in s-domain analysis. Here, first-order and second-order actuator dynamics are taken into consideration as more complicated actuator dynamics can be combined by these two simplified models. This method solves for gains, which post-processe the output of control allocation frame. The gains are terse in form and are easy to be calculated, which means that it can be implemented into typical flight computer. Simulation results show proposed method can significantly compensate the flaw caused by actuator dynamics.

关键词： Actuators

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A Matrix Robot for Block Stacking 3rd

A Matrix Robot for Block Stacking

引用

3rd international conference on Intelligent Technologies and engineering Systems (ICITES)

作者： Su, Yu-Ching Chen, Ming-Chang Wong, Wing-Kwong Natl Yunlin Univ Sci & Technol Dept Elect Engn Touliu 64002 Yunlin Taiwan

ISBN: (纸本)9783319173146;9783319173139

This research studies how to control a robot to stack blocks according to the block structure shown in a given image. In this project, a LabVIEW program is designed and run on a Lego Mindstorms NXT, which in turn controls a robot built with components of Matrix robotics. There are two operation modes for the block stacking robot. In the first mode, a user uses an Android smartphone to control the robot with Bluetooth to move around, pick up blocks, and stack them. In the second mode, the robot identifies the block structure in a given image with OpenCV and picks up the needed blocks to stack them to build the block structure. The robot was tested with two images of simple block structures in the second mode. The success rates ranged from 7 to 80 %. Future work should further identify the weaknesses of the robot and improve its performance.

关键词： Android LabVIEW Matrix robotics NXT OpenCV

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Matlab Platform Remote control System Experiments 3

Matlab Platform Remote Control System Experiments

引用

3rd international Symposium on Instrumentation, control, Artificial Intelligence, and robotics, ICA-SYMP 2023

作者： Boksuwan, Sungwan School of Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand

ISBN: (纸本)9781665473538

The paper proposes the remote experiment that enables a student to conduct the physical control system experiment through the internet. The remote experiment is designed using MATLAB platform to create the user interface and to analyze the results. A DC motor controlled by PI controller is utilized as the physical system for demonstrating the effectiveness of the proposed system. Interface module with a dsPIC microcontroller is in charge of implementing a control loop and connecting between a user interface and a physical system. The experimental results reveal that there are a little delay times in live video monitoring but it does not affect the closed-loop control system and it can still be run in real time. © 2023 IEEE.

关键词： User interfaces

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Research on Manipulator control Based on Visual Feature Constraints 3

Research on Manipulator Control Based on Visual Feature Cons...

引用

3rd international conference on Electronic Information engineering and Computer Science, EIECS 2023

作者： Wang, Weiru Zhang, Xiaokang Liu, Jiasheng Wu, Peizhang 713th Research Institute of China State Shipbuilding Corportion Limited Zhengzhou China

ISBN: (纸本)9798350316674

With the deepening of research in machine vision and other related fields, vision-based robotic arm control has always been a research hotspot in the field of robotics. For the automatic grasping control of robot arm, a control method based on visual feature constraints is proposed in this paper. The linear spatial interpolation method is used to plan the linear trajectory of the end of the robot arm in Cartesian space, and then control the end of the robot arm to pass the planned trajectory points successively, so as to grasp the target successfully. In order to solve the problem that the object exceeds the camera field of view, the visual feature constraint function is introduced to limit the movement of the robot arm. The simulation results show that this method can effectively control the position of the end of the robot arm in the process of automatic grasping, and ensure that the grasping target is always in the field of view of the camera. © 2023 IEEE.

关键词： manipulator control variable structure controller visual feature constraint

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Trajectory Tracking of a Nonholonomic Mobile Robot using Optimal Cascade Sliding Mode controller 3

Trajectory Tracking of a Nonholonomic Mobile Robot using Opt...

引用

3rd international conference on Intelligent robotics and control engineering (IRCE)

作者： Chatterjee, Medha Hanif, Omar Deshpande, Nihar G. Stancu, Alexandra Univ Manchester Dept Elect & Elect Engn Manchester Lancs England Univ Manchester Sch Mech Aerosp Civil Engn Manchester Lancs England

ISBN: (纸本)9781728189727

The trajectory tracking for a non-holonomic mobile robot is addressed in this paper. Cascade control is implemented with a Sliding Mode controller for the outer loop and a Proportional-Integral-Derivative controller governing the inner loop. Linear Quadratic Regulator is further applied to the outer loop to optimize the controller's effort. The model is further analyzed based on various output performances such as trajectory tracking, reference tracking of linear and angular velocities, sliding surfaces of the controller, and its robustness. A comparative analysis with and without an optimal approach has been illustrated. Simulations are carried out on a virtual robotic simulator in LabVIEW.

关键词： nonholonomic mobile robot trajectory tracking lyapunov stability Sliding Mode control (SMC) cascade control Linear Quadratic Regulator (LQR) NI LabVIEW

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Highly Sensitive Flexible Resistance Strain Sensor Based on PDMS and Silver Nanowire 3

Highly Sensitive Flexible Resistance Strain Sensor Based on ...

引用

3rd international conference on Computer, control and robotics, ICCCR 2023

作者： Sun, Weiming Liu, Mei Djoulde, Aristide Liu, Xinyue School of Mechatronic Engineering and Automation Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai200444 China

ISBN: (纸本)9781665492126

Flexible sensing film has a broad application prospect in the fields of medicine, wearable electronic devices, complex environment sensing, and others. In this paper, dimethylsiloxane (PDMS) was used as a flexible substrate to prepare composite conductive films by covering silver nanowires (AgNWs) with specific lines on the substrate surface. The resistance change of the sensor is mainly caused by the change in the number of contact points between AgNWs on the film surface, which has higher linearity than the traditional resistance strain gauge. The sensor is very sensitive and has a very good measuring effect on the pressure of 0-6N and the micro-bending caused by 0-1N. Common sensors made of micro-nano materials are usually affected by transverse strain. The sensor in this experiment designs a special circuit structure, which can effectively avoid the lateral effect. The sensor also has the characteristic of self-recovery, which can achieve self-recovery under a certain degree of damage. It can be used to detect small changes in the skin. © 2023 IEEE.

关键词： Substrates

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A Self-reliance Assistive Tool for Disable People 3

A Self-reliance Assistive Tool for Disable People

引用

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

作者： Lee, Ya-Ting Chiu, Chian-Song Jhang, Li-Hu Santiago, Carlo Natl Taichung Univ Sci & Technol Dept Beauty Sci Taichung Taiwan Chung Yuan Christian Univ Dept Elect Engn Taoyuan Taiwan

ISBN: (纸本)9781538666630

In order to improve the self-reliance capacity of physically disabled and elderly people, this paper develops an assistive tool by using hand posture control. The assistive tool is composed of an electric wheelchair and a 6 axis-robot arm. The power wheelchair provides the mobility for challenging people, while the robot arm helps people to grab objects in their daily lives. The functions of the assistive tool are operated by a control glove which senses the hand posture by inertial and electronic sensors. The operational status of the glove is transformed to the corresponding action for the wheelchair and robot arm. The benefit of the developed assistive tool is easy use for disabled and elderly people without needing difficult operational learning. Several experiments have been conducted to demonstrate the design in this paper.

关键词： Assistive tool wheelchair robot manipulator posture control

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The Design of Intelligent Grasping control System for a Special Operation Manipulator 3

The Design of Intelligent Grasping Control System for a Spec...

引用

3rd international conference on Automation, control and robotics engineering (CACRE)

作者： Deng, Songbo Cai, He Li, Ke Li, Tongtong Deng, Tao Wang, Yanbo Beijing Res Inst Precise Mechatron & Controls 1 South Da Hongmen Rd Beijing Peoples R China

In this paper, the control system of intelligent grasping for a special operation manipulator is designed to complete disaster relief, fire fighting, explosive disposal and the like for replacing human beings. The control system of the special operation manipulator is needed to have the characteristics of multiple terminal functions, accurate end accuracy and high system reliability and redundancy within outdoor environment. It puts forward higher requirements for the manipulator performance and operator. After analyzing the work requirements of the manipulator, the D-H parameters and motion space is calculated for further research. The forward and inverse kinematics models are built to make the control system into reality. The target grasping is achieved by using the force and position hybrid control and single joint/end control methods. The intelligent recognition system based on machine learning is constructed. The simulation training based on machine learning is carried out by using the back image of the end camera of the manipulator to help the operator locate the target quickly and accurately. Finally the special operation manipulator is used to carry out the target intelligent grasping experiment based on visual guidance. The test results show the effectiveness of the control system design. Thereby it is suitable to be promoted to other robot or manipulator control system design.

关键词： Inverse problems

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Single CFTA-Based Dual-Mode Biquadratic Filter 3

Single CFTA-Based Dual-Mode Biquadratic Filter

引用

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

作者： Channumsin, Orapin Photsathian, Thongchai Tangsrirat, Worapong Rajamangala Univ Technol Isan Fac Engn Khonkaen CampusSrichan Rd Muang Khonkaen 40000 Khonkaen Thailand King Mongkuts Univ Technol North Bangkok Fac Engn & Technol Div Instrumentat & Automat Engn Technol Rayong Campus Rayong 21120 Thailand King Mongkuts Inst Technol Ladkrabang KMITL Fac Engn Chalongkrung Rd Bangkok 10520 Thailand

ISBN: (纸本)9781538666630

A scheme consisting of only one current follower transconductance amplifier (CFTA) and four passive components is introduced for realizing the novel dual-mode universal biquadratic filter. The introduced filter can perform either in voltage-mode or current-mode, and can realize the highpass, bandpass and lowpass filter responses simultaneously without needing any element matching constraints. The natural angular frequency (omega(0)) and the quality factor (Q) of the filter can be tuned electronically by the transconductance gain of the CFTA. Computer simulations are used to confirm the workability of the proposed circuit.

关键词： Current Follower Transconductance Amplifier (CFTA) biquadratic filter dual-mode circuit

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Model-Based control of Automatic Excavator Using Kinematic Models of Operation Part 3

Model-Based Control of Automatic Excavator Using Kinematic M...

引用

3rd international conference on robotics, Automation and Artificial Intelligence (RAAI)

作者： Park, Giseo Jeon, Pilsoo Ahn, Kyoungkwan Univ Ulsan Sch Mech Engn Ulsan South Korea

ISBN: (纸本)9798350307573;9798350307566

Automatic excavators, which do not require direct operator intervention, have great advantages in terms of operator convenience and work efficiency, and are receiving a lot of attention. In order to improve the automatic work performance of an excavator, precise motion control of the upper operation part of the automatic excavator is essential. To do this, a model-based control algorithm for an automatic excavator, which is accompanied by a kinematic modeling process of the operation part, is newly designed in this paper. Based on sophisticated simulation, the characteristics of the proposed control algorithm are evaluated by comparing it with the existing proportional-integral-derivative (PID) controller.

关键词： automatic excavator hydraulic cylinder model-based controller least square method

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