In response to the issue of high labor costs in the steel bar bundling process on building machines, a new type of steel bar bundling robot for building machines is proposed, which has strong load-bearing capacity, la...
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ISBN:
(纸本)9798350352634;9798350352627
In response to the issue of high labor costs in the steel bar bundling process on building machines, a new type of steel bar bundling robot for building machines is proposed, which has strong load-bearing capacity, large working range, and is easy to install. Firstly, design a series parallel robot driven by ropes, establish a mathematical model of the structure using MATLAB, analyze the changes in rope length and working range, and verify the results;Finally, an adaptive sliding film control strategy is adopted to control the motion error of the modified mathematical model. The results show that this structure can meet the requirements of the steel bar binding process on the building machine.
In order to improve the motion stability and monitorability of inspection robots, a digital twin predictive control system for inspection robots based on Unity3D and robot Operating System (ROS) is proposed. Firstly, ...
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ISBN:
(纸本)9798350352634;9798350352627
In order to improve the motion stability and monitorability of inspection robots, a digital twin predictive control system for inspection robots based on Unity3D and robot Operating System (ROS) is proposed. Firstly, with the support of wireless communication technology and ROS system, the mapping of virtual-real space scene and robot state is carried out through TCP/IP protocol;secondly, considering the impact of data communication lag and signal loss on the control system, a predictive control model is constructed to control the robot's motion in order to reduce the reliance on real-time data, and the predictive control model is optimized by using Laguerre's function as well as filtering algorithm to optimize the control response and mitigate control oscillations in time;finally, in the virtual decision space, the physical robot is driven to follow the predicted trajectory in a synchronized mapping manner. The experimental results prove that the digital twin control system has good tracking performance and is stable and reliable. Compared with that before model optimization, the efficiency is improved by 50.93% and the error is reduced by 69.23%.
The proceedings contain 22 papers. The topics discussed include: industrial ahu control improvements using fuzzy logic for energy efficiency and comfort;a hybrid nut sorting system: utilizing machine vision and augmen...
ISBN:
(纸本)9798331544546
The proceedings contain 22 papers. The topics discussed include: industrial ahu control improvements using fuzzy logic for energy efficiency and comfort;a hybrid nut sorting system: utilizing machine vision and augmented information for efficient human-robot collaboration;using sliding mode controller to trajectory tracking of the four Mecanum wheel mobile robot applied in automotive plants;balancing ground reaction forces on quadrupeds for simplified motioncontroller design;geometric control methods for on-orbit assembly of modular spacecraft cluster;generalized wavefront path planning;a self-aware robotic machining architecture based on physics-informed neural networks;and improved path planning algorithms to minimize turning costs for a differential-drive autonomous surface vehicle.
In this paper, the movement control of snake-shaped robot for pipeline clamber is studied, and a method based on neural network and Sigmoid joint decoupling is proposed to solve the adaptive problem of snake-shaped ro...
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A flexible continuum manipulator for minimally invasive surgery is proposed to realize the positional separation of the manipulator end by designing a symmetric constraint *** on this configuration, a direct inverse k...
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ISBN:
(纸本)9798350352634;9798350352627
A flexible continuum manipulator for minimally invasive surgery is proposed to realize the positional separation of the manipulator end by designing a symmetric constraint *** on this configuration, a direct inverse kinematics method is *** workspace is drawn and the inverse kinematics is solved in the modes of fixed target attitude and fixed target position. The attitude tracking error can be ignored, and the maximum position tracking error is *** shows that the designed manipulator can achieve more accurate motioncontrol by using the direct inverse kinematics algorithm, which provides a new idea for the design of the manipulator in minimally invasive surgery robot.
With the continuous improvement of the level of industrial automation, industrial robots, as an important production equipment, are playing an increasingly important role in the manufacturing industry. As a typical si...
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In this paper, a kind of walking control of biped robot based on adaptive incremental MPC(Adaptive IMPC) is implemented. The linear inverted pendulum model(LIPM) is used to simplify the robot into a center of mass mov...
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In contemporary control theory, self-adaptive methodologies are highly esteemed for their inherent flexibility and robustness in managing modeling uncertainties. Particularly, robust adaptive control stands out owing ...
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ISBN:
(纸本)9798350352634;9798350352627
In contemporary control theory, self-adaptive methodologies are highly esteemed for their inherent flexibility and robustness in managing modeling uncertainties. Particularly, robust adaptive control stands out owing to its potent capability of leveraging robust optimization algorithms to approximate cost functions and relax the stringent constraints often associated with conventional self-adaptive control paradigms. Deep learning methods, characterized by their extensive layered architecture, offer significantly enhanced approximation prowess. Notwith-standing, the implementation of deep learning is replete with challenges, particularly the phenomena of vanishing and exploding gradients encountered during the training process. This paper introduces a self-adaptive control scheme integrating a deep MPC, governed by an innovative weight update law designed to mitigate the vanishing and exploding gradient predicament by employing the gradient sign exclusively. The proffered controller is a self-adaptive dynamic inversion mechanism, integrating an augmented state observer within an auxiliary estimation circuit to enhance the training phase. This approach enables the deep MPC to learn the entire plant model in real-time and the efficacy of the controller is demonstrated through simulations involving a high-DoF robot manipulator, wherein the controller adeptly learns the nonlinear plant dynamics expeditiously and exhibits commendable performance in the motion planning task.
There is a significant anticipated shift from operating theater (OT) surgery to digital OT, with robotic Assisted Surgery (RAS) emerging as the most representative aspect of this transformation. RAS which uses robot t...
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作者:
Jiao, LikunLiu, YanjunShandong University
Faculty of Mechanical Engineering Department of Mechanical Manufacturing and Automation No. 17923 Jingshi Road Jinan Shandong China
Aeration tube is a kind of aeration equipment used for sewage treatment, and the aeration tube in the process of sewage aeration is prone to clogging, affecting the aeration effect. At present, often used in the form ...
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