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检索条件"任意字段=4th International Conference on Robotics and Control Engineering, RobCE 2024"

共 3757 条记录，以下是21-30 订阅

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Design of Servo control System for Mobile Robot Based on UAV Global Vision 24

Design of Servo Control System for Mobile Robot Based on UAV...

引用

4th international conference on robotics and control engineering, robce 2024

作者： Ji, Peng Dou, Yonglin Pang, Yanxu Wang, Ziqi Ma, Fengying School of Information and Automation Engineering Qilu University of Technology Shandong Academy of Sciences Shandong Province Jinan City China

ISBN: (纸本)9798400716782

When ground reconnaissance mobile robots perform tasks alone, they can only obtain ground view perception, which leads to the inability to globally optimize, resulting in local rather than global optimal solutions. Inspired by this, a servo control system for mobile robots based on UAV global vision is designed in this paper. Firstly, acquire global visual images and process them, selecting target points via mouse under global vision. Secondly, plan an obstacle avoidance path to reach the target point using artificial potential field method, and smooth the path using B-spline curves. then, establish the kinematic model of the mobile robot and use the LQR algorithm to enable the robot to track the path. Finally, experimental tests were conducted via the Webots simulation platform to verify the feasibility of the system. Experimental results show that the system can ensure high accuracy and smooth path tracking, and has strong cooperative control, effectively addressing the single visual problem of ground mobile robots. Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Mobile robots

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Servo system Cascade Linear Active Disturbance Rejection control Based on Motor Models 4

Servo system Cascade Linear Active Disturbance Rejection Con...

引用

4th international conference on Industrial Automation, robotics and control engineering, IARCE 2024

作者： He, Yuang Zheng, Qijia Liu, Jialun Wang, Yan Fan, Qian Beijing Institute of Precision Mechatronics and Controls Innovation Center for Control Actuators Beijing China

ISBN: (纸本)9798350380323

the electromechanical servo system is usually implemented by three closed loops, with the inner loop being the current loop, the middle loop being the speed loop, and the outer loop being the position loop. the traditional system tuning method is the PI parameter trial and error method, which cannot achieve the optimal performance of the system. this article innovatively adopts the LADRC three closed-loop cascade control method. Compared with previous control methods, the control method applied in this article can ensure that the current loop, speed loop, and position loop control circuits all meet the requirements of the Bode theorem, which provides a basis for the control objectives. this article provides a detailed description of the selection methods for the control order, observer bandwidth, controller bandwidth, and loop gain of each control loop. this method was validated and ultimately achieved stable control of the electromechanical servo system. © 2024 IEEE.

关键词： Disturbance rejection

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Design of Visualization Simulation Software for Collaborative Formation control of Mobile Robot Cluster 4

Design of Visualization Simulation Software for Collaborativ...

引用

4th international conference on Artificial Intelligence, robotics, and Communication, ICAIRC 2024

作者： Liu, Haiming Luo, Jiaxiang Zhang, Mei Chen, An South China University of Technology School of Automation Science and Engineering Guangzhou China

ISBN: (纸本)9798331531225

Simulation tools are important auxiliary tools for scientific research. Design method of a practical and convenient simulation software for visual simulation of collaborative formation control for mobile robot cluster was discussed in this paper. the simulation software was designed in two main parts: human-computer interaction and visualization display of algorithm simulation. the software was implemented based on Qt development platform and some key methods of design and implementation involved were detailed. the simulation results of this software under different formation control algorithms are shown to demonstrate its practicality and flexibility in applications. © 2024 IEEE.

关键词： Mobile applications

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A Unified Framework for Vertical States Estimation: Data-Driven Approach Incorporating Uncertainty 24

A Unified Framework for Vertical States Estimation: Data-Dri...

引用

4th international conference on robotics and control engineering, robce 2024

作者： Shangguan, Zhegong Mrhasli, Younesse El Atheupe, Gaël P. Mouton, Xavier Monsuez, Bruno Tapus, Adriana Autonomous Systems and Robotics Laboratory/U2IS ENSTA Paris Institut Polytechnique de Paris Palaiseau France Chassis Systems Department Groupe RENAULT Guyancourt France

ISBN: (纸本)9798400716782

Accurate and real-time knowledge of vertical states plays a critical role in vehicular safety and comfort. It contributes to enhanced cornering performance, detailed modeling of vehicle dynamics, and effective implementation of control strategies for numerous active safety systems, especially semi-active and active suspensions. For this purpose, this study aims to estimate three key dynamical states that are impractical to acquire via direct measurements: tire vertical force, road profile, and unsprung mass velocity. A unified framework tailored to the context of vertical dynamics is proposed, leveraging a state-of-the-art multivariate prediction model known as Neural Basis Expansion Analysis for Time Series (N-BEATS). this model uses existing in-vehicle signals and is trained using data from a simulation platform with a high-fidelity vehicle model. Additionally, the model provides an uncertainty interval of its estimation rather than a single value. Test results reveal that N-BEATS exhibits good tracking performance, outperforming Long Short-Term Memory (LSTM) in terms of estimation errors and inference speed. Finally, we highlight extra functionalities of the developed virtual sensor such as road quality classification and the consistency of the temporal-frequency content between predicted signals and the ground truth labels. Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Active safety systems

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A Desktop Bilateral Rehabilitation Robot Driven by Nonlinear Rotary Series Elastic Actuator 24

A Desktop Bilateral Rehabilitation Robot Driven by Nonlinear...

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4th international conference on robotics and control engineering, robce 2024

作者： Zhang, Maozeng Li, Huijun Shi, Ke Li, Ye Song, Aiguo School of Instrument Science and Engineering Southeast University Nanjing Shi Xuanwu Qu China Nanjing Advanced Robotics Technology Research Institute Co. Ltd Nanjing Shi Xuanwu Qu China The Department of Biomedical Engineering National University of Singapore Singapore Singapore

ISBN: (纸本)9798400716782

Upper limb rehabilitation robots have demonstrated substantial efficacy in enhancing limb motor function during the recovery process of stroke patients. the growing integration of compliance into the design of rehabilitation robot drive systems is motivated by concerns related to system stability and the safety of rehabilitation treatments. In our study, we developed a desktop bilateral rehabilitation robot (DBRR) aimed at assisting patients in their rehabilitation training while ensuring precise control over human-robot interaction forces. the drive system incorporates specially designed nonlinear rotary series elastic actuator (nrSEA). the stiffness range can passively vary from 0.13 Nm/° to 0.51 Nm/°. the stiffness profile and torque output performance of the nrSEA were rigorously validated through experiments conducted on the designated testing platform. At a frequency of 0.5 Hz, the root mean square error (RMSE) of the sinusoidal torque output is consistently less than 0.2 Nm, and the step response time at a 9 Nm amplitude is typically below 0.1 s. these experiments unequivocally demonstrate that the nrSEA exhibits exemplary characteristics in human-robot interaction torque control, rendering it highly suitable for applications in robot-assisted rehabilitation therapy. Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Human robot interaction

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Research on Adaptive On-Demand Assistive control Strategy for Upper Limb Rehabilitation Robot 4

Research on Adaptive On-Demand Assistive Control Strategy fo...

引用

4th international conference on Artificial Intelligence, robotics, and Communication, ICAIRC 2024

作者： Zheng, Haoyue Wang, Zhiming Shanghai University School of Mechatronic Engineering and Automation China

ISBN: (纸本)9798331531225

Currently, upper limb exoskeleton rehabilitation robots provide the same level of assistance to different patients during active rehabilitation training, which prevents patients from fully utilizing their own initiative and thus affects the rehabilitation effect. To address this issue, this paper proposes an adaptive on-demand assistive control strategy based on impedance control for upper limbs. By establishing two modules of on-demand assistive control and trajectory tracking control, combined with methods of assessing limb movement state and on-demand control to adapt to the needs of patients at different stages of rehabilitation, the system achieves automatic adjustment of the assistive force size through synovial control, thereby maximizing the patient's moment of main force. the experimental results show that the adaptive assistive force system, compared with traditional methods, provides an average assistive force that is reduced by 41.9% under the same limb movement state coefficient, and can gradually reduce the assistive force provided according to the patient's recovery of motor ability. this indicates that the method is highly adaptable to different patients and can effectively enhance the patient's initiative in rehabilitation training, thereby improving the rehabilitation effect. © 2024 IEEE.

关键词： Exoskeleton (robotics)

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Dual-hand Tracking Mirror Rehabilitation control Algorithm Based on Behavior Prediction 24

Dual-hand Tracking Mirror Rehabilitation Control Algorithm B...

引用

4th international conference on robotics and control engineering, robce 2024

作者： Song, Aiguo Xu, Jingjing Xiong, Pengwen Southeast University Jiangsu Nanjing China Nanchang University Jiangxi Nanchang China

ISBN: (纸本)9798400716782

Hemiplegia after stroke severely impairs hand function and reduces patients' life quality. Hand rehabilitation robot can assist patients with finger rehabilitation training. However, existing finger rehabilitation robots have poor single-hand rehabilitation effect due to poor mechanism portability, low control accuracy and difficulty in realizing dual-hand tracking mirror rehabilitation. To address the above problems, a novel three-finger rehabilitation system with good adaptability is developed and a dual-hand tracking mirror rehabilitation control algorithm is proposed based on it. Firstly, planetary gear train and parallelogram structure are proposed to achieve flexible bending and stretching movements of fingers of various sizes. then, to address the problem of information transmission delay in the dual-hand tracking mirror rehabilitation, a dual-hand tracking control algorithm based on behavior prediction is proposed. this algorithm combines BP neural network and genetic algorithm to optimize the prediction of angle data, thus achieving the delay compensation in mirror rehabilitation control. Finally, the stability of the mechanism system and the feasibility of the dual-hand tracking control algorithm based on behavior prediction are verified through comprehensive experiments on the finger rehabilitation robot system. Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Epicyclic gears

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Design a 4DOFs Delta Parallel Robot for Chili Destemming 4

Design a 4DOFs Delta Parallel Robot for Chili Destemming

引用

4th international conference on Computer, control and robotics (ICCCR)

作者： Feng, Luojun Xu, Maomao Yan, Jiasheng Niu, Shuxian Wu, Zhizheng Shanghai Univ Shanghai Peoples R China

ISBN: (纸本)9798350373141;9798350373158

Nowadays, chili destemming poses a technical challenge in the chili processing industry, so the research on chili destemming robot holds a significant value. this paper presents the design of the mechanical structure, control system, and visual positioning algorithm of a chili destemming machine. Firstly, a chili destemming machine featuring a (3T1R) Delta parallel robot and an end-effector destemming device is designed. Subsequently, the robot's kinematics and dynamics are analyzed, and a nonlinear-model-predictive-control (NMPC) algorithm is proposed to control the robot system and verify the system's rapid dynamic response characteristics. Finally, a chili stem cutting and positioning algorithm is devised to determine spatial cutting points and directions based on the training outcomes of the Yolact instance segmentation model, and its high accuracy is demonstrated.

关键词： chili destemming (3T1R) Delta robot NMPC control chili stem positioning

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Development of a Cuboidal Fitting Module for Automated Substation Maintenance robotics 9

Development of a Cuboidal Fitting Module for Automated Subst...

引用

9th international conference on control and robotics engineering (ICCRE)

作者： Vohra, Mohit Panda, Amrut Subramaniam, Prashanth Tarek, Mahmoud Karunamurthy, Jayakumar Vandavasi Dubai Elect & Water Author 4IR Robot Dubai U Arab Emirates Dubai Elect & Water Author 4IR AI Dubai U Arab Emirates Dubai Elect & Water Author 4IR Lead Dubai U Arab Emirates

ISBN: (纸本)9798350372694;9798350372700

this paper presents an innovative method for automating the inspection of electrical substations, with a specific focus on precise boundary detection for rectangular enclosures within substations. the proposed approach utilizes cuboidal primitives to approximate object boundaries, incorporating RGBD sensor data and YOLOv8 object detection. the process involves extracting point cloud data and employing a two-step procedure for orthogonal axis determination, followed by the extraction of key points for approximating the objects with cuboidal primitive. Visual results showcase the method's adaptability across diverse box configurations. While demonstrating robust performance in straightforward scenarios, challenges in complex environments serve as inspiration for future enhancements. the proposed pipeline, designed with potential ROS integration, lays the foundational framework for advancing systems dedicated to efficient substation maintenance.

关键词： Cuboidal shape fitting Image Segmentation Point Cloud sub-station monitoring robotics

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Trajectory Tracking control of Space Robotic Arm Based on Adaptive Non-singular Fast Terminal Sliding Mode control 4

Trajectory Tracking Control of Space Robotic Arm Based on Ad...

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4th international conference on Industrial Automation, robotics and control engineering, IARCE 2024

作者： Li, Zhipeng Dai, Zhenglin Wu, Yiping Li, Yue Wang, Teng Zhao, Liping University of Chinese Academy of Sciences Beijing China Technology and Engineering Center for Space Utilization Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798350380323

this paper addresses the challenge of trajectory tracking for space robotic arms under the influence of system uncertainties and external disturbances. To tackle this problem, we propose a novel adaptive non-singular fast terminal sliding mode control (ANFTSMC) strategy. this method extends the traditional non-singular fast terminal sliding mode control (NFTSMC) by integrating an adaptive reaching law, which enhances overall performance. this design allows the control rate to dynamically adjust according to changes in the system state, ensuring rapid convergence of both trajectory tracking and velocity errors to zero, despite uncertainties and disturbances. Furthermore, the proposed controller achieves shorter error convergence times compared to conventional NFTSMC. the stability and rapid convergence of the controller are validated through Lyapunov stability theory. Finally, numerical simulations confirm the effectiveness and advantages of the proposed algorithm. © 2024 IEEE.

关键词： Robotic arms

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