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Temporal finite elements for target control dynamics of mechanisms

COMPUTERS & STRUCTURES 2007年第17-18期85卷 1399-1408页

作者： Eriksson, Anders Royal Inst Technol KTH Mech SE-10044 Stockholm Sweden

this paper discusses a temporal finite element description in the analysis of dynamics of mechanical systems, with a special emphasis on problems where target control is desired. this is defined as a situation where forces are sought for the movement of a structure from an initial to one or more specified target states. the primary applications lie in robotics and in bio-mechanical forward simulations of musculoskeletal systems. A temporal discretization of the movement and forces is introduced. By interpolating simultaneously displacements and velocities in the spatial discrete degrees of freedom, a collocation over the time interval can be used to decide the necessary system. the needed control can be optimized for chosen criteria on the integrated force components. the temporal interpolation of control forces and discrete displacements introduces a degree of continuity in the obtained results. the viewpoint allows variation of many aspects of problem formulation, and leads to efficient solutions for systems of high complexity but moderate size. (c) 2006 Civil-Comp Ltd. and Elsevier Ltd. All rights reserved.

关键词： musculoskeletal system biomechanics dynamics target states mechanisms finite element approximation

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Asymptotic Stabilization of Time-Varying Delay System with Actuator Saturation via Multi-dimensional Taylor Network 7

Asymptotic Stabilization of Time-Varying Delay System with A...

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7th international conference on robotics and Automation engineering (ICRAE)

作者： Wang, Guo-Biao Yan, Hong-Sen Southeast Univ Sch Automat Nanjing 210096 Jiangsu Peoples R China Minist Educ Key Lab Measurement & Control Complex Syst Engn Nanjing 210096 Jiangsu Peoples R China

ISBN: (纸本)9781665489188

this paper addresses the stabilization problem of time-varying delay systems subject to actuator saturation. A novel class of Lyapunov functional with a nonlinear metric is developed to guarantee that there exists a Lyapunov-Razumikhin function that strictly decreases for the controlled system. Such a nonlinear metric is parameterized by a multi-dimensional Taylor network with concise topology, which brings into the high-order dynamic information and guarantees real-time performance. A sum-of-squares programming approach based on the designed Lyapunov functional is formulated to deduce the stability criteria, which maximizes the estimate of the region of attraction and ensures the uniform asymptotic stability of the closed-loop system theoretically. A numerical example demonstrates the effectiveness of the proposed stabilization control scheme.

关键词： Time-varying delay actuator saturation region of attraction estimation nonlinear metric multi-dimensional Taylor network

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Positional Error Estimation of the Parallel Manipulator for control Application 7

Positional Error Estimation of the Parallel Manipulator for ...

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7th international conference on Mechanical engineering and robotics Research (ICMERR)

作者： Ghosh, Bibhuti Bhusan Sarkar, Bikash Kumar Saha, Rana CSIR Cent Mech Engn Res Inst Durgapur India NIT Meghalaya Dept Mech Engn Shillong Meghalaya India Jadavpur Univ Dept Mech Engn Kolkata India

ISBN: (纸本)9781665490511

Parallel manipulator (PM) become popular in industrial application over serial manipulator owing to the higher accuracy, fast response and rigidity. In the present study electrohydraulic two degree of freedom (2DOF) PM is considered for study the control performance. Apart from measurement and sensor error parallel manipulator may experienced structural error, which may cause of joint clearance. Lab. scale 2DOF PM has been considered structural error analysis due to joint clearance. Further, a model free self-tuning fuzzy-PID-bias (F-PID-B) controller has been developed for control of the orientation of the top platform of PM. the controller performance has been studied for combined sinusoidal heave and pitch demand. the robustness of the controller has been tested under various demand and different external load. F-PID-B controller has shown the ability to handle external load disturbances with measurement uncertainty and system nonlinearity using a low cost proportional valve controlled hydraulically actuated PM.

关键词： control electrohydraulic manipulator pose

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Multi-robot Systems Using Broadcast control Framework with Visual-Based Tracking 7

Multi-robot Systems Using Broadcast Control Framework with V...

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7th international conference on Mechanical engineering and robotics Research (ICMERR)

作者： Rudrusamy, Bhuvendhraa Tan, Chun Wei Yang, Mun Ping Ramunathan, Rohindaran Ng, Yu Jin Choong, Florence Chiao Mei Nor, Mohamad Hafizulazwan Mohamad Heriot Watt Univ Malaysia Sch Engn & Phys Sci Putrajaya Malaysia Petronas Res Sdn Bhd Technol Disciplines Bangi Selangor Malaysia

ISBN: (纸本)9781665490511

the multi-robot application is becoming more critical in achieving complex collaborative tasks. this requires an efficient multi-agent robot system that supports distributed tasks, time and energy consumption. One of the developing control methods is the broadcast control framework. We found that variants of broadcast control techniques were validated on simulation only and lacked experimental work. therefore, this paper focus on the experimental investigation of a variant of the broadcast control framework. To create a similar environment to the application, we developed the system using Raspberry Pi, AlphaBots, a webcam, and Bluetooth as the central controller, robots, visual tracking, and wireless communication. We successfully validated the system in an indoor environment. the experimental finding shows the travelling trajectory of the robots differs from the MATLAB simulation results. Nonetheless, the broadcast control framework system was able to achieve the final target accurately. this paper provides implementation details and challenges for future research and development of a broadcast control framework. We propose to include obstacle avoidance in robots as a new study direction.

关键词： broadcast control multi-agent system multi-robot system simulated and application visual tracking

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Image guide planning and control of flying vehicle

Image guide planning and control of flying vehicle

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Proceedings of the 7th international conference on control, Automation, robotics and Vision, ICARCV 2002

作者： Xie, M. Jayakumar, K.S. Sch. of Mech. and Prod. Engineering Nanyang Technological University Singapore Singapore

this paper proposes a vision technique for a flying vehicle, particularly helicopter, to land autonomously and shows the simulation of autonomous landing of helicopter. Vision system uses uncalibrated Stereovision and... 详细信息

ISBN: (纸本)9810483643

关键词： Motion planning

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Vision-based non-smooth kinematic stratified object manipulation

Vision-based non-smooth kinematic stratified object manipula...

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Proceedings of the 7th international conference on control, Automation, robotics and Vision, ICARCV 2002

作者： Wei, Yejun Goodwine, Bill Aerospace and Mechanical Engineering University of Notre Dame Notre Dame IN 46556

ISBN: (纸本)9810483643

this paper presents experimental demonstration and verification of a vision-based stratified motion planning method for the case where the base manifold upon which the motion planning occurs is not smooth. Robotic applications of the method include motion planning for legged robotics over non-smooth (but known) terrain and manipulation of non-smooth objects with multiple robotic manipulators. Experimental results with multiple robots manipulating a common non-smooth object is presented.

关键词： robotics

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On the synthesis of controllers for a non-overshooting step response

On the synthesis of controllers for a non-overshooting step ...

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Proceedings of the 7th international conference on control, Automation, robotics and Vision, ICARCV 2002

作者： Darbha, Swaroop Bhattacharyya, S.P. Department of Mechanical Engineering Texas A and M University College Station TX - 77843-3123 Department of Electrical Engineering Taxas A and M University College Station TX - 77843-3128

In this paper, we show how a two-parameter compensator can always be designed for any Linear Time Invariant (LTI) plant, that does not have a zero at the origin, to render its step response non-overshooting.

ISBN: (纸本)9810483643

关键词： control equipment

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Efficient Delivery of robotics Programming Educational Content Using Cloud robotics 7

Efficient Delivery of Robotics Programming Educational Conte...

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7th international conference on robotics and Automation engineering (ICRAE)

作者： Murphy, Sean Militano, Leonardo Toffetti, Giovanni Maurer, Remo Zurich Univ Appl Sci Zurich Switzerland

ISBN: (纸本)9781665489188

In this paper, we report on our use of cloud-robotics solutions to teach a robotics Applications Programming course at Zurich University of Applied Sciences (ZHAW). the usage of Kubernetes based cloud computing environment combined with real robots - turtlebots and Niryo arms - allowed us to: 1) minimize the set up times required to provide a Robotic Operating System (ROS) simulation and development environment to all students independently of their laptop architecture and OS;2) provide a seamless "simulation to real" experience preserving the exciting experience of writing software interacting with the physical world;and 3) sharing GPUs across multiple student groups, thus using resources efficiently. We describe our requirements, solution design, experience working with the solution in the educational context and areas where it can be further improved. this may be of interest to other educators who may want to replicate our experience.

关键词： Cloud robotics Kubernetes Robotic Applications Edge Computing

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Simulation of Shape Memory Wire based Exoskeleton for Flexion and Extension of Upper limb 7

Simulation of Shape Memory Wire based Exoskeleton for Flexio...

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7th IEEE international conference for Convergence in Technology, I2CT 2022

作者： Kumar, Abhishek then Mozhi, G. Dhanalakshmi, K. National Institute of Technology Instrumentation and Control Engg. Tamil Nadu Tiruchirappalli India

ISBN: (纸本)9781665421683

this paper presents the design of an exoskeleton, an assistive device used for enhancing the function of the human body especially limbs. Shape Memory Alloy (SMA) based rehabilitation device that repetitively flexes and extends the elbow joint would improve hand function by improving the mobility and strength of the hand and in turn improves functional ability. this SMA based exoskeleton can be used by patients who are suffering from muscle control disorder and particularly, have lost control of their upper limb. the insights of the design of the exoskeleton for the upper limb (elbow joint) are analyzed for performing flexion-extension movements which are needed as well as necessary for the activities of daily living (ADL) and in turn, can be used for medical rehabilitation. © 2022 IEEE.

关键词： Exoskeleton (robotics)

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Neural Network and PID Hybrid Adaptive control for Horizontal control of Shearer

Neural Network and PID Hybrid Adaptive Control for Horizonta...

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Proceedings of the 7th international conference on control, Automation, robotics and Vision, ICARC 2002

作者： Liang, Yiwei Xiong, Shibo Inst. of Mechano-Electron. Eng. Taiyuan Univerty of Technology No. 53 Xikuang Street Taiyan 030024 China

ISBN: (纸本)9810474806

the shearer is a most important tool for coal mining. the task of horizontal control of shearer is to make drum track the coal-rock interface accurately in order to improve recovery. A neural network adaptive controller combined with PID is presented considering nonlinear and uncertainty of the electro-hydraulic servo system used for horizontal control. the neural network is trained on-line with the reference signal and the feedback error. Feedback-error-learning scheme is employed to keep the stability of system as well as a short learning time. Simulation and experiment on the hybrid of neural network and PID controller are presented. the results show satisfactory performance of the controller.

关键词： Adaptive control systems

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