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检索条件"任意字段=3rd International Symposium on Control Engineering and Robotics, ISCER 2024"

共 600 条记录，以下是31-40 订阅

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Research on terminal sliding mode control of active suspension of lead screw inertial container 24

Research on terminal sliding mode control of active suspensi...

引用

3rd international symposium on control engineering and robotics, iscer 2024

作者： Li, Jiaolian Kou, Farong Xi'an University of Science and Technology Xi an710054 China

ISBN: (纸本)9798400709951

In order to improve the vibration reduction performance of ball screw type inertial container suspension, combined with the nonlinear model of ball screw type inertial container suspension, this paper combines ball screw type inertial container suspension with terminal sliding mode control, and proposes an active suspension of ball screw type inertial container. Based on the suspension model, the terminal sliding mode controller is designed. Combined with suspension parameters, the suspension performance is simulated and analyzed, and the feasibility of suspension is tested by suspension bench test. The test results show that the ball screw type suspension of the inertial container can effectively suppress the vibration impact of the vehicle under the road excitation. © 2024 ACM.

关键词： Sliding mode control

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Foot-End Obstacle Avoidance Trajectory Planning for Quadruped Robots 24

Foot-End Obstacle Avoidance Trajectory Planning for Quadrupe...

引用

3rd international symposium on control engineering and robotics, iscer 2024

作者： Du, Xuan Yun, Xingyu School of Mechanical and Power Engineering China Three Gorges University Yichang Hubei60010580 China

ISBN: (纸本)9798400709951

Achieving dynamic locomotion of legged robots in rugged terrains requires precise control of foot placement and collision avoidance. Currently, some advanced motion controllers utilize external perception information for foot planning in such scenarios, with foot-end obstacle avoidance methods typically relying on constructing Signed Distance Function (SDF) maps. However, this approach has limitations in terms of real-time performance and computational overhead. To address this issue, this paper proposes a novel foot-end obstacle avoidance trajectory planning method based on elevation map information. This method eliminates the reliance on SDF maps and instead analyzes elevation map information to select optimal foothold points, compute collision gradients using local collision-free guidance paths, and generate smooth trajectories through a Cube B-spline curve optimizer. Compared to traditional methods that require the construction of SDF maps incurring computational costs, this approach significantly enhances computational efficiency. © 2024 ACM.

关键词： Trajectories

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The global shortest path planning problem based on the K-means ant colony combination algorithm 24

The global shortest path planning problem based on the K-mea...

引用

3rd international symposium on control engineering and robotics, iscer 2024

作者： Zhang, Jinlin Xu, Xiangkai Jiang, Rongqin University Of Jishou School of Communications and Electronic Engineering Ji head China Jiangxi New Energy Vocational Science and Technology College The School of New Energy Engineering Xinyu China

ISBN: (纸本)9798400709951

The TSP problem of global route planning, global drone shooting, global express industry transportation, global airline flight route design and global travel and so on all have a great influence and promotion role. In order to solve the problem of slow iteration and complicated planning route, K-means clustering algorithm and ant colony algorithm are superimposed in this paper. The longitude and latitude coordinates of 245 countries in the world are taken as points on the plane. First, all countries are gathered into 7 categories and each cluster is the base station country of this category, then the ant colony algorithm is used for each category of countries, and finally the ant colony algorithm is used for 7 base station countries. The new algorithm calculates that it requires 2645.7744 unit distances, a significant increase compared to the 126417.3819 unit distances calculated by a single colony. © 2024 ACM.

关键词： K-means clustering

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Development of Digital Twin System for Milling Machine 24

Development of Digital Twin System for Milling Machine

引用

3rd international symposium on control engineering and robotics, iscer 2024

作者： Li, Xueguang Yang, Fulin Zhang, Dashun Miao, Liqin Wang, Jing Gao, Di College of Mechanical and Electrical Engineering Changchun University of Science and Technology Changchun Jilin130012 China Department of numerical design and manufacture Changchun Research Institute of Equipment and Technology Changchun Jilin130012 China

ISBN: (纸本)9798400709951

Taking a small three-axis milling machine as an example, the digital twin of the milling machine is divided into the twin data layer and the twin model layer, and the data model, geometric model, logic model are constructed and the digital twin model of the milling machine is generated;based on the Unity virtual platform, the operation logic of the digital twin system of the milling machine is designed, and the system development process is investigated, and using the data interaction in the virtual and real space, the functional modules such as registration and logon, motion simulation, information display, etc., are developed;the functional verification of the digital twin system based on the three-axis milling machine confirms the stability and effectiveness of the system. Simulation, information display and other functional modules;based on the three-axis milling machine for the functional verification of the digital twin system, confirmed the stability and effectiveness of the system. © 2024 ACM.

关键词： Milling machines

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Development and control of a soft pneumatic aerial manipulator 24

Development and control of a soft pneumatic aerial manipulat...

引用

3rd international symposium on control engineering and robotics, iscer 2024

作者： Xia, Tian Li, Ding Lu, Mingyue Yang, Haoyuan Chen, Juan College of Mechanical Engineering Jiangsu University of Technology Changzhou213001 China

ISBN: (纸本)9798400709951

Considering that most common aerial manipulators use rigid manipulators, which have the problems of low fault tolerance and high control accuracy requirements, this paper designs an aerial manipulator that can automatically change the grasping radius. The design consists of a flight platform and a soft manipulator;the flight platform is loaded with a fixture that can automatically adjust the grasping radius, and the soft manipulator is composed of multi-chamber soft actuators. In order to verify the feasibility of the design, a finite element simulation of the bending deformation of the soft manipulator is carried out in this paper. In addition, this paper designs a PID pneumatic control system based on the real-time feedback of air pressure and bending force information to ensure that the soft manipulator can grasp objects with appropriate air pressure and realize the gripping of fragile objects. Finally, the paper presents the trajectory planning of the aerial manipulator to grab an object from a point and transport it to the target point. © 2024 ACM.

关键词： Pneumatic control

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Kinematics, dynamics and control of a novel 3-DOF parallel mechanism with parallelograms linkage structure 24

Kinematics, dynamics and control of a novel 3-DOF parallel m...

引用

3rd international symposium on control engineering and robotics, iscer 2024

作者： Jia, Huizhou Zhang, Junpeng Liang, Dong School of Mechanical Engineering Tiangong University Tianjin300387 China Tianjin Key Laboratory of Modern Electromechanical Equipment Technology Tiangong University Tianjin China

ISBN: (纸本)9798400709951

Three degree of freedom (DOF) parallel mechanisms (PM) are widely used in light industry, medical industry, agriculture, aerospace and other fields because of their excellent motion performance and cost performance. A novel 3-DOF PM with parallelogram closed-loop chain linkages is proposed to meet the demands of special working environments, and its mathematic models of kinematics and dynamics are obtained. Based on the topology of this PM, the kinematics is analyzed by using the closed-loop vector and derivation method, and the relation of positions, velocities and accelerations between inputs and components can be expressed. On this basis, utilizing the principle of virtual work, dynamic model is established, which lays the theoretical basis for PD computed torque control (CTC). Based on the law of CTC and the virtual prototype, the multi-body simulation experiment is carried out, which proves the correctness of the theory, and provides the foundation for practical application. © 2024 ACM.

关键词： Degrees of freedom (mechanics)

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Local path planning for off-road environment considering terrian and obstacle risk field 24

Local path planning for off-road environment considering ter...

引用

3rd international symposium on control engineering and robotics, iscer 2024

作者： Song, Yingjie Han, Lijin Li, Hongcai Nie, Shida Guo, Congshuai Xie, Yujia Chen, Ke School of Mechanical Engineering Beijing Institute of Technology Beijing60016835 China Inner Mongolia First Machinery Group Corporation Inner Mongolia China

ISBN: (纸本)9798400709951

Off-road environment with complex road terrain and obstacles brings great difficulties to autonomous navigation of unmanned vehicles. In order to improve the safety of vehicles traveling on unstructured road, this paper proposes a dynamic planning algorithm integrating the artificial potential field(DP-APF) and a path optimization method. Firstly, the risk potential fields of obstacles and undulating areas are established, and the avoidance of obstacles and undulating terrain is realized by combining the dynamic planning algorithm. Secondly, in order to further improve the path quality, the optimal local path for vehicle tracking is obtained by convex optimization method combined with vehicle kinematic constraints. © 2024 ACM.

关键词： Off road vehicles

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Fast and Robust Visual Loop Closure Detection based on MobileNetV3 and NetVLAD 24

Fast and Robust Visual Loop Closure Detection based on Mobil...

引用

3rd international symposium on control engineering and robotics, iscer 2024

作者： Ren, Mingrong Zhang, Xiurui Beijing University of Technology College of Automation Faculty of Information and Technology Beijing100124 China

ISBN: (纸本)9798400709951

Loop closure detection (LCD) is an important technique for maintaining global consistency in mobile robot simultaneous localization and mapping (SLAM) systems. However, the LCD problem remains a highly challenging under the interference of changes in perspective and appearance. To address this problem, a fast online LCD algorithm based on lightweight convolutional neural network MobileNetV3 and local feature aggregation layer NetVLAD is proposed. First, the cropped MobileNetV3 is used for image feature encoding. Second, the obtained feature is passed into the NetVLAD Layer and output the global features of the original image. Then, an approximate nearest neighbor method based hierarchical navigable small world (HNSW) is adopted to reduce feature matching time. Evaluation results on multiple publicly available datasets confirm that the proposed method significantly enhances computational efficiency while maintaining high accuracy. © 2024 ACM.

关键词： Convolutional neural networks

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Design of an Automated Welding System for Aluminum Alloy Core Components Based on Industrial Robots 24

Design of an Automated Welding System for Aluminum Alloy Cor...

引用

3rd international symposium on control engineering and robotics, iscer 2024

作者： Li, Xian Zhu, Qingsong Lv, Shixia Gou, Weijie Automotive Engineering College BEIJING POLYTECHNIC BEIJING100950 China

ISBN: (纸本)9798400709951

In response to the welding requirements of aluminum alloy core components, an automated Tungsten Inert Gas (TIG) welding system has been devised to address issues related to low efficiency, inconsistent welding quality, and workplace safety concerns associated with manual welding. This system seamlessly integrates various technologies, including industrial robotics, visual recognition, programmable logic controller (PLC), and motor drive. It also introduces an innovative welding fixture and positioning device based on the intrinsic structure of aluminum alloy core components. To facilitate the robotic handling of various component shapes and eliminate the need for manual robot tool changes, a multifunctional manipulator has been designed, thereby reducing equipment complexity. Simultaneously, a control system has been developed by incorporating an industrial Ethernet-based communication network centered around the S7-1200 PLC, enabling full automation of the welding process for aluminum alloy core components. © 2024 ACM.

关键词： Programmable logic controllers

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Intelligent Car control System Based on Vision Tracking Technology 24

Intelligent Car Control System Based on Vision Tracking Tech...

引用

3rd international symposium on control engineering and robotics, iscer 2024

作者： Guo, Rong Wu, Jing Shanghai Institute of Technology College of Economics and Management Shanghai60009246 China

ISBN: (纸本)9798400709951

With the progress of science and technology, intelligent vehicles have been widely used in environmental detection, data acquisition and other aspects. However, the wired control method they use can be inconvenient for practical applications. Therefore, this paper designs an intelligent car wireless control system based on eye tracking. The system uses the Tobii eye tracker4c eye tracker to track and recognize human line of sight. Under the control of STM32, the acquired instructions are transmitted to the receiving end of the car by means of ZigBee wireless communication, and the motion state of the car is finally controlled. The designed system can control the forward, backward, left, right turn, parking, obstacle avoidance and other states of the car through six sight directions. The test results show that the accuracy of automobile action execution is about 98% by using the wireless control system, and the precise control of the automobile can be realized. The technology has the advantages of non-contact, convenience, stability and safety, and reduces a lot of complicated procedures, making the operation of intelligent cars more stable and reliable. © 2024 ACM.

关键词： Zigbee

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