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检索条件"任意字段=9th International Conference on Informatics in Control Automation and Robotics, ICINCO 2012"

共 366 条记录，以下是271-280 订阅

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Development and human-like control of an upper limb rehabilitation exoskeleton using sEMG bio-feedback

Development and human-like control of an upper limb rehabili...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Ye, Wenjun Li, Zhijun Su, Chun-Yi Department of Automation Shanghai Jiao Tong University Shanghai 200240 China College of Automation South China University of Technology Guangzhou 510641 China

ISBN: (纸本)9781467312776

the paper presents our results in development and human-like control of 5-DOFs upper limb rehabilitation exoskeleton. We build the robot dynamics and propose humanlike learning control using low-feedback gains and sEMG biofeedback for the exoskeleton such that it can flexibly interact with different human users. Due to the harmonic drive transmission (HDT) of the exoskeleton, its motion is precise for co-manipulation tasks of human and robot because of its backdrivability, precise positioning capabilities, and zero backlash. However, it is challenging for making the development of an accurate dynamic model of the robot extremely because of the compliance and oscillations inherent in harmonic drive systems, and the lack of any technical information on the internal dynamics of the transmission. Moreover, it's impossible to get a precise human arm model for each user. the novelty of this work lies in the development of rehabilitation robot and extracting the model parameters of a harmonic drive transmission in the robot, together with human-like learning control and sEMG bio-feedback, to facilitate co-manipulation task. We have conducted the experiments on human body to verify the effectiveness of the proposed approaches. © 2012 IEEE.

关键词： Robots

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Type-2 fuzzy logic neural network control and target following for Remote Operated Vehicles

Type-2 fuzzy logic neural network control and target followi...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Huang, Hai Jiang, Shu-Qiang Wan, Lei Pang, Yong-Jie National Key Laboratory of Science and Technology of Underwater Vehicle Harbin Engineering University Harbin 150001 China School of Automation Harbin Engineering University Harbin 150001 China

ISBN: (纸本)9781467312776

Accurate control and target following are very important for Remote Operated Vehicles subsea engineering. In order to make Remote Operated Vehicles task more effective and accurate, type-2 fuzzy logic neural network has been introduced to model and minimize the effects of uncertainties in rule-base fuzzy logic system. In the online learning strategy, the gradient descent method has been used for online training. the results of tank experiments have proved that the controller can improve the computation efficiency, reduce control errors, vibration and overshoot. thus the controller displays strong robustness in the underwater robotic control. In the 3-D target following simulations, ROV can precisely follow the target in still and current underwater enviroment. these simulations verify the controller's capacity to realize 3D-trajectory control and target following. It can realize 3D-target following curve tracking, obstacle avoidance and guarantee underwater task accomplishment. © 2012 IEEE.

关键词： controllers

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Obstacle crossing with stereo vision for a quadruped robot

Obstacle crossing with stereo vision for a quadruped robot

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Shao, Xuesong Yang, Yiping Wang, Wei Institute of Automation Chinese Academy of Sciences 95 Zhongguancun East Road Beijing 100190 China

ISBN: (纸本)9781467312776

Autonomous locomotion in unstructured environments is a great challenge for quadruped robots, especially when there is little knowledge about the environments. Based on stereo vision, this paper proposes a locomotion control system for a quadruped robot that is able to perform adaptive locomotion in unknown environments cluttered with many obstacles. To reduce the negative influence of poor light, surface reflection, and textureless conditions, combined with the sum of absolute difference (SAD) method, an efficient post-processing algorithm is investigated to fulfill disparity estimation. According to the calculated terrain maps, a novel gait planning algorithm, which contains different gaits generation and gait transition, is designed to cross over terrains with enough stability and considerable locomotion speed. Experiments on the real robot of traversing complicated surface with stereo vision demonstrate the effectiveness of our system. Video footage can be seen at: http://***/robot/. © 2012 IEEE.

关键词： Stereo vision

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Time-constrained trajectory tracking control algorithm for multiple-vehicle systems

Time-constrained trajectory tracking control algorithm for m...

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Pamosoaji, Anugrah K. Hong, Keum-Shik School of Mechanical Engineering Pusan National University Busan 609-735 Korea Republic of Department of Cogno-Mechatronics Engineering Pusan National University Busan 609-735 Korea Republic of

ISBN: (纸本)9781467312776

A trajectory tracking control algorithm for multiple vehicle systems is proposed. the technique of the algorithm is to use a homogeneous function as upper bound of vehicle-to-reference distance. the problem to solve by the proposed method is in the case of the existence of interception between any two reference paths. Assumptions of collision-free pre-planned reference trajectories and the existence of actuator limitation are used. By the proposed method, collision between any two vehicles can be avoided only by tracking their references in short time, not doing any collision avoidance motion. Simulation results showing the performance of the proposed method are presented. © 2012 IEEE.

关键词： Collision avoidance

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A motion planning method for an anthropomorphic arm based on movement primitives of human arm triangle

A motion planning method for an anthropomorphic arm based on...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Ding, Xilun Fang, Cheng Department of Mechanical Engineering and Automation Beihang University Beijing China

ISBN: (纸本)9781467312776

Motion planning for anthropomorphic arm is discussed in this paper. A three-level motion planning framework "joint space - movement primitive space - task space" is established by introducing movement primitives of human arm triangle as the bridge connecting the task space and joint space. the proposed method can not only control the motion process of an anthropomorphic arm, but can also simplify the motion planning work of complicated operation tasks. the forward and inverse kinematics among joint space, human arm triangle space, and task space are derived by coordinate transformation and geometric analysis. And then, on the basis of this, the joint trajectories of two movement primitives based on the human arm triangle, including motion of moving on the working plane and self-motion of switching working planes, can be obtained by solving corresponding differential equation groups. Finally, the feasibility and effectiveness of the method are verified by two simulation examples. © 2012 IEEE.

关键词： Motion planning

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Probabilistic terrain modeling of mobile robots for outdoor applications using a scanning laser

Probabilistic terrain modeling of mobile robots for outdoor ...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Zhou, Bo Qian, Kun Ma, Xudong Dai, Xianzhong Key Laboratory of Measurement and Control of CSE School of Automation Southeast University Nanjing Jiangsu Province China

ISBN: (纸本)9781467312776

In this paper the real-time three-dimensional terrain estimation and modeling problem of mobile robots for outdoor applications is considered. A uniform probabilistic sensor model for scanning lasers is created to transform measurements into elevation estimation in the form of normal distributions by multi-level coordination transformation, with uncertainties from un-modeled errors or sensors accuracies are treated as Gaussian noises. Under the elevation map description framework of the terrain model, the obtained elevation estimations are assigned to terrain cells according to their confidence boundary, and can be fused in a probabilistic manner to update the elevation map. Moreover, the terrain occlusion are considered and solved by local window detection method to improve the accuracy of the terrain model. Outdoor experimental results of a tracked robot with a scanning laser are given to demonstrate the effectiveness of the proposed method. © 2012 IEEE.

关键词： Mobile robots

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Derivative-free Kalman filtering for sensorless control of MIMO nonlinear dynamical systems

Derivative-free Kalman filtering for sensorless control of M...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Rigatos, Gerasimos G. Department of Engineering Harper Adams University College TF10 8NB Shropshire United Kingdom Unit of Industrial Automation Industrial Systems Institute 26504 Rion Patras Greece

ISBN: (纸本)9781467312776

the paper proposes derivative-free nonlinear Kalman Filtering and state estimation-based control for MIMO nonlinear dynamical systems. the considered nonlinear filtering scheme which is based on differential flatness theory extends the class of systems to which Kalman Filtering can be applied without the need for calculation of Jacobian matrices. Nonlinear systems satisfying the differential flatness property can be written in the Brunovsky (canonical) form via a transformation of their state variables and control inputs. After transforming the nonlinear system to the canonical form it is straightforward to apply the standard Kalman Filter recursion. the performance of the proposed derivative-free nonlinear filtering scheme is tested through simulation experiments on benchmark nonlinear multi-input multi-output dynamical systems, such as robotic manipulators. © 2012 IEEE.

关键词： MIMO systems

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A kinematics modeling and stress analysis method for flexible micro-gripper

A kinematics modeling and stress analysis method for flexibl...

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Gao, Qun Zhang, Dapeng Xu, De Zhang, Zhengtao Research Center of Precision Sensing and Control Institute of Automation Chinese Academy of Sciences 95 Zhongguancun East Road 100190 Beijing China

ISBN: (纸本)9781467312776

Considering the demand on gripping small objects in the micro-assembly and micro-manipulation, we design a monolithic micro-gripper based on flexure hinge and driven by piezoelectric. To overcome the limited displacement of PZT-actuators, dual-stage amplification mechanism is utilized to obtain the large output-displacement. And Parallel four-bar linkage is used to realize parallel clamping. the kinematics modeling method and stress analysis using the pseudo-rigid-body-model (PRBM) and compliant mechanisms are discussed in detail. We get the relationship between the input and output displacement and the stress distribution of the flexible hinges which effectively reduces the time of the mechanical structure design. Finite element method (FEM) was performed to verify the feasibility of this method. © 2012 IEEE.

关键词： Finite element method

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controller design for flying boats taking off from water with regular waves

Controller design for flying boats taking off from water wit...

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Zhu, Yinggu Fan, Guoliang Yi, Jianqiang Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781467312776

As a special airplane, a flying boat can take off from water and land in water, which makes its controller design more complicated than that of other general airplanes. Based on the mathematical model of a flying boat, two controllers applying classical PID (Proportional Integration Differential) method and a compound control method (combining active-disturbance rejection controller (ADRC) and dynamic inversion (DI) methods) are designed respectively. then the performances of the two controllers are validated by tracking a speed step signal from 15m/s to 16m/s in clam water, holding the speed and the pitch angle of the flying boat in water with regular waves, and taking off from water with and without waves. the results of the simulations show that the controllers can improve the stability and seakeeping quality of the flying boat. © 2012 IEEE.

关键词： controllers

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Development of operator seat vibration test device of earth-moving machinery and its control system

Development of operator seat vibration test device of earth-...

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Yang, Bin Yang, Yonghai Zhang, Yingshuang Chen, Xiangdong Li, Hang Shen, Tao College of Mechanical Science and Engineering Jilin University Changchun 130022 China

ISBN: (纸本)9781467312776

Earth-moving machines were always used in the harshest environments, which can decrease operator comfort. the operator seat can reduce the effect of shock and vibration on the operator and provide him with stable support so that he can control the machine effectively. Based on the laboratory evaluation standard and test methods, a set of electro-hydraulic servo operator seat vibration test device and its control system were developed independently in this paper. the system configures WinTest10 all-digital hydraulic servo controller with software system. the software consists of two main parts: Winquick vibration control software and Ranvib random vibration signal processing software. through the seat vibration test, the seat effective amplitude transmission rate (SEAT) factor and the transmissibility at resonance were obtained. the results provide the basis for the seat vibration-laboratory evaluation. the research indicates that the system is of great significance for the evaluation of operator seat vibration and seat optimization development. © 2012 IEEE.

关键词： control systems

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