In order to analyze the welding trajectory of the rear axle weld on a drive axle, the kinematics equation of the robot was established using the D-H parameter method. MATLAB robotics Toolbox was utilized to verify the...
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Synchronized belt drive system is a complex nonlinear system, and ordinary PID control is difficult to meet the performance requirements, so it is necessary to design a controller with better performance. In this pape...
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The swing process of a cutter suction dredger are affected by many factors, which changed time and nonlinear. So it is difficult to describe the change law accurately. The swing process model based on RBF-ARX model is...
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The swing process of a cutter suction dredger are affected by many factors, which changed time and nonlinear. So it is difficult to describe the change law accurately. The swing process model based on RBF-ARX model is established after detailed analysis of the formation process of dredger production. The shortcomings of the traditional neural network could be overcome by this method, such as slow convergence rate, more hidden layer. After modeling, the linear and nonlinear parameters of the RBF-ARX model are identified off-line by using SNPOM (Structured Nonlinear Parameter Optimization Method). Then the errors of the output of the model and the real data are compared and analyzed by simulation. The result show that the swing process model can accurately describe the dynamic characteristics of the system in the global range, and the model output is well fitted with the real data of a cutter suction dredger.
A method of optimizing the control parameter of wearable exoskeletons for industrial applications using subjective feedbacks is introduced in this paper. The human sensory system is explained and a method of mapping t...
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Accurate modeling and control of robotic systems are often critical to perform complex manipulation tasks. Artificial Intelligence (AI) based approaches have gained widespread popularity to deal with task complexity a...
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Aiming at the requirement of low cost, high precision and high stability of space advanced technology demonstration satellite, a method of heterogeneous backup of attitude control sensor is proposed, and the design pr...
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With the increasing energy demand, the efficient operation of power distribution network system becomes particularly important. In order to improve the operation and maintenance efficiency and safety of the distributi...
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Results of a study on the restricted motion of manipulators in robotics-assisted minimally invasive surgery are presented in this paper. The governing equations of trocar kinematics are derived and the constrained man...
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ISBN:
(纸本)9781424477098
Results of a study on the restricted motion of manipulators in robotics-assisted minimally invasive surgery are presented in this paper. The governing equations of trocar kinematics are derived and the constrained manipulation is generically formulated in terms of the trocar geometry as well as the kinematics of the manipulator. The results are validated through a numerical simulation with a Mitsubishi PA10-7C arm. Following this analysis, by utilizing the constrained manipulation formulation, a modified measure of manipulability, specifically applicable to surgical tasks, is proposed. The measure is proven to be frame-invariant and dimensionally homogeneous for manipulators with similar joints (revolute or prismatic). Furthermore, the measure is shown to be capable of quantifying the impact of trocar constraints on surgical task performance when the remote center of motion is maintained through active compliant motion control.
Iterative optimization of signal control timing is an significant way to alleviate urban traffic congestion. In order to ensure the stability of traffic operation under traffic congestion, this paper constructed a coo...
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In order to solve the problems of road traffic congestion and poor autonomous movement in a narrow space, this paper develops a set of omnidirectional mobile intelligent vehicle control system based on Arduino and usi...
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