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

共 3776 条记录，以下是3361-3370 订阅

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Compensation of Process Forces with a Model-Based Feed-Forward control for Robot Machining 4

Compensation of Process Forces with a Model-Based Feed-Forwa...

引用

4th international conference on control and robotics engineering (ICCRE)

作者： Gruendel, Lukas Lienenlueke, Lars Storms, Simon Brecher, Christian Rhein Westfal TH Aachen Chair Machine Tools Dept Automat & Control Lab Machine Tools & Prod Engn WZL Campus Blvd 30 D-52074 Aachen Germany

ISBN: (纸本)9781728115931

Low investment costs, high flexibility and a wide working area have led to an increasing use of industrial robots (IR) for machining tasks like milling. However, the conventional control algorithms are not designed to cope with large dynamic and static process forces as in milling operations. therefore, the occurring inaccuracies and the low stiffness of an IR inhibit the breakthrough of industrial robots in the machining sector. this paper presents a model-based control algorithm, which enables the calculation of drive torques in the presence of external forces and therefore optimizes the milling process.

关键词： industrial robots model-based control robot machining

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Research on Model Predictive control-based Trajectory Tracking for Unmanned Vehicles 4

Research on Model Predictive Control-based Trajectory Tracki...

引用

4th international conference on control and robotics engineering (ICCRE)

作者： Yuan, Shoutong Zhao, Pengchao Zhang, Qingyu Hu, Xin Tianjin Catarc Data Co LTD Dept Intelligent Connected Vehicles Platform Tianjin Peoples R China

ISBN: (纸本)9781728115931

In this paper, the unmanned vehicle trajectory tracking problems were studied. In order to improve the stability of unmanned vehicles, the trajectory tracking control algorithm based on model predictive control (MPC) algorithm was researched by adding the dynamic constraints of centroid, acceleration and tire side angle on the basis of vehicle dynamics model. the trajectory planning layer was established on top of the trajectory tracking control layer, and the Carsim/Simulink simulation platform was built. At different speeds and under different road adhesion conditions, the algorithm was verified and compared. the simulation results showed that the model predictive control algorithm with dynamic constraints was provided with excellent tracking performance under severe conditions and well adaptive to environment interference.

关键词： unmanned vehicles model predictive control trajectory tracking dynamic constraints stability

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Motion Camouflage for Point-Mass Robots Using a Lyapunov-based control Scheme 4

Motion Camouflage for Point-Mass Robots Using a Lyapunov-bas...

引用

4th international conference on control and robotics engineering (ICCRE)

作者： Prasad, Avinesh Sharma, Bibhya Vanualailai, Jito Univ South Pacific Sch Comp Informat & Math Sci Suva Fiji

ISBN: (纸本)9781728115931

this article presents a new solution to the motion camouflage problem for point-mass robots using a Lyapunov-based control scheme. We consider a workspace with one shadower and one shadowee. We design our control inputs for shadower and the shadowee such that at each moment the shadower must follow the camouflage constraint line (the line that joins the instantaneous position of the shadowee with a fixed focal point). this strategy allows the shadower to appear stationary to the shadowee and will help the shadower to effectively catch the shadowee without spending much of its energy. the convergence of the two robots to a neighborhood of a pre-defined target is guaranteed by the Lyapunov's direct method. Computer simulations validate the control inputs and the effectiveness of Lyapunov-based control scheme.

关键词： Motion camouflage Lyapunov-based control scheme shadower shadowee camouflage constraint line

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Terminal Motion control of Multicopter Group 4

Terminal Motion Control of Multicopter Group

引用

4th international conference on control and robotics engineering (ICCRE)

作者： Pshikhopov, Viacheslav Medvedev, Mikhail Medvedeva, Tatjana Southern Fed Univ Dept Robot Control Syst Taganrog Russia

ISBN: (纸本)9781728115931

the article is devoted to the development of terminal control algorithms for a multicopter group. the multicopter model is represented by kinematics and dynamics of a solid body. the desired position of the multicopter in the formation is determined using the Delaunay triangulation and an optimization procedure. Further the program trajectory is constructed. then the method of position-trajectory control is used to design the feedback, which provides stabilization of the program trajectory. the results are the thrust and the moments generated by the screws. At the fourth stage, the program trajectory is corrected depending on the current position of the mobile object and the presence of obstacles. As a result of the correction, a singularity occurs in the target position. In order to eliminate the singularity, the problem is solved as a problem of weak terminal control. the analysis of the closed system is carried out. the results of numerical simulations confirm the performance of the proposed algorithms on the example of a group of five multicopters.

关键词： terminal control multicopter group control position-trajectory control

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Research on Unmanned Vehicle Stability control with Model Prediction control 4

Research on Unmanned Vehicle Stability Control with Model Pr...

引用

4th international conference on control and robotics engineering (ICCRE)

作者： Zhang, Ji Jin, Hui Beijing Inst Technol Sch Mech Engn Beijing Peoples R China

ISBN: (纸本)9781728115931

the use of ESC(Electronic Stability control) significantly improves vehicle stability. Most ESC systems keep the vehicle stable by limiting raw rate and lateral velocity of the vehicle in a particular range. However, this method does not suitable for the unmanned vehicle. If the environment is very complicated, the ESC may misjudge. It is necessary to consider the unmanned vehicle condition over a short period of time to determine the true state of the unmanned vehicle. Different models should be established according to all states of the unmanned vehicle, and then the predicted results of these models can be compared to choose the result closest to the data measured by the sensor. Based on the selected model, the current best control strategy can be obtained. Experiments have been conducted under a variety of conditions. the results show that the stability control system using model prediction control(MPC) can effectively improve the stability of the vehicle.

关键词： unmanned vehicle stability model prediction

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Design, Implementation and Nonlinear control Analysis of a Furuta Pendulum System 4

Design, Implementation and Nonlinear Control Analysis of a F...

引用

4th international conference on control and robotics engineering (ICCRE)

作者： Mendez-Flores, Efrain Lopez-Gutierrez, Juan R. Macias-Hidalgo, Israel Ramirez-Cadena, Miguel de J. Vargas-Martinez, Adriana Lozoya-Santos, Jorge de J. Ramirez-Mendoza, Ricardo Morales-Menendez, Ruben Molina-Gutierrez, Arturo Tecnol Monterrey Sch Sci & Engn Monterrey Mexico

ISBN: (纸本)9781728115931

this paper discusses the implementation, design, control and stability of a Furuta Pendulum, known for being a highly nonlinear mechatronic system. In this research, the dynamic of a conventional PID controller against a non-linear controller such as the Model Reference Adaptive control (MRAC) combined with the PID, where the reference model was approximated to a second order system by defining the desired overshoot and settling time of the system are compared. Finally, a real implementation is shown in order to validate the designed controller, discussing the hardware implementation and the nonlinear control design.

关键词： Nonlinear systems inverted pendulum describing functions MRAC-PID controller

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Sensorless Vector control of Permanent Magnet Synchronous Motor Based on Improved Hybrid Genetic Algorithm 4

Sensorless Vector Control of Permanent Magnet Synchronous Mo...

引用

4th international conference on control and robotics engineering (ICCRE)

作者： Wang, Minhsuan Chang, Weiyoung Yang, Haofei Yan, Wei Peking Univ Sch Software & Microelect Beijing Peoples R China

ISBN: (纸本)9781728115931

Using the permanent magnet synchronous motor (PMSM) model, the basis of decoupling method was adopted for the analysis, and the realization of the vector control strategy was described in detail. Since the detection of rotor position in the vector control is different from the traditional sensor position detection, an Improved Hybrid Genetic Algorithm (IHGA), within a certain range of precision, was implemented to enhance the speed of rotor position estimation. In the calculation process, new activation function and elitist strategy were to reduce the errors and ensure that the weight and threshold eventually converged to the optimal global values. the above scheme was simulated in a MATLAB environment. the results that the error values of rotor position detected with the optimized algorithm was controlled within an acceptable range, and the speed was remarkably higher than that of CORDIC algorithm, demonstrating the feasibility and superiority of the current design.

关键词： PMSM Genetic Algorithm stator vector control

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An Improved Vibe Based on Gaussian Pyramid 4

An Improved Vibe Based on Gaussian Pyramid

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4th international conference on control and robotics engineering (ICCRE)

作者： Wang Yuanbin Ren Jieying Xian Univ Sci & Technol Sch Elect & Control Engn Xian Shaanxi Peoples R China

ISBN: (纸本)9781728115931

In view of the ghost and time cost of the Vibe, an improved Vibe algorithm based on Difference of Gaussian (DoG) is proposed in this paper. Firstly, video frames are processed by Gauss Pyramid, the original layer, the first layer and the second layer of three images are obtained. Secondly, three-frame difference is performed and fused, then rough moving target is yielded. thirdly, the target pixel is judged based on the improved vibe algorithm and the complete moving target is achieved. the improvement on the traditional Vibe algorithm is to enlarge the range of sample pixels selection, avoiding repeated selection of error samples. On the other hand, the background of DoG images is updated and moving objects is segmented. Finally, the result is fused by three-frame difference and the improved Vibe algorithm. the experiment results show that ghost phenomenon can be restrained efficiently by the proposed algorithm and the calculation speed is also improved. the feature of real time can also be ensured.

关键词： Gauss Pyramid Difference of Gaussian three frame difference Vibe Moving object detection

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Design and Research of Lower Limb Walking-assisted Exoskeleton Robot 4

Design and Research of Lower Limb Walking-assisted Exoskelet...

引用

4th international conference on control and robotics engineering (ICCRE)

作者： Li, Qing Zhang, Weipeng Feng, Yuxi Liu, Rongshuai Ningbo Univ Finance & Econ Coll Mech & Elect Engn Ningbo Zhejiang Peoples R China North Univ China Sch Mech Engn Taiyuan Shanxi Peoples R China Ningbo Univ Finance & Econ Ningbo Zhejiang Peoples R China

ISBN: (纸本)9781728115931

In this paper, an exoskeleton robot used for lower extremity walking- assisted is designed. A kind of SAC force servo hybrid control strategy is proposed. In this strategy, the walking-assisted exoskeleton robot can move followed by the human body in a low velocity and other time can provide an output torque for the human body. this function is realized by judging the rotate velocity of hip joint and then switching the control strategy between SAC control strategy and auxiliary force servo control strategy. this kind of SAC force servo hybrid control strategy is verified effective and feasible by walking-assisted test.

关键词： Walking-assisted Lower extremity exoskeleton Algorithms and control

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Vertical Design of 3D Camera Platform 4

Vertical Design of 3D Camera Platform

引用

4th international conference on control and robotics engineering (ICCRE)

作者： Dong, Yulong Dong, Yue Liu, Jiefeng Wu, Xianting Commun Univ China Sch Informat Engn Beijing Peoples R China

ISBN: (纸本)9781728115931

this paper aims to design a new type of vertical stereo film and television platform with strong stability and high accuracy. this platform combines manual and automatic adjustment, it can also achieve the automatic tracking of shooting ***, from the aspect of structure design, the vertical stereo film and television platform consists of horizontal feed flexible unit, vertical feed flexible unit and load bracket. Secondly, in the control system of the platform, the infrared automatic remote control operation system is designed based on the traditional manual control mode of the platform, and the automatic tracking and shooting object system of the platform is designed sing the ultrasonic transmitter and ***, after finishing the platform, we conducted test on the platform and made analysis on it. Compared with the traditional stereo film and television platform, the design of our platform adopts manual control and infrared automatic control system, and uses the method of automatic tracking of the shooting object, which can greatly improve the accuracy of the parameters adjustment of the platform, and improve the shooting efficiency and quality.

关键词： 3D camera platform structural design control system infrared receiver stepper motors

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