An auto tuning algorithm of fuzzy inference for Fuzzy neural networks using the genetic algorithm and the delta rule is presented. Some auto-tuning methods are proposed to reduce time-consuming operations by human exp...
详细信息
A mechanical system interacting with the environment and the operator is modeled, and a control algorithm that enables the desired interaction to be realized is proposed. The control system consists of two controllers...
详细信息
A mechanical system interacting with the environment and the operator is modeled, and a control algorithm that enables the desired interaction to be realized is proposed. The control system consists of two controllers. One generates the desired motion of the mechanical system based on the force applied to the system, and the other controls the interaction between the system and the environment. The control algorithm specifies both the force augmentation and the maneuverability of the system. The algorithm is applied to a planar manipulator with one degree of freedom to illustrate the concept.< >
A mechanism and a control method of a two-link brachiation robot are described. The robot can generate motions by a heuristic method and locomotes with the trajectory and arm-direction feedback control. It controls th...
详细信息
A mechanism and a control method of a two-link brachiation robot are described. The robot can generate motions by a heuristic method and locomotes with the trajectory and arm-direction feedback control. It controls the switching amplitude by a method based on parametric excitation. Experimental results of the swing and locomotion control of the robot using these methods are given. They enable the robot to catch its target and to continue locomotion from any initial states.< >
The problem of lowering the energy consumption of space robot systems is discussed from the point of view of control. It is proposed to regenerate electricity and store it as a form of kinetic energy using the redunda...
详细信息
The problem of lowering the energy consumption of space robot systems is discussed from the point of view of control. It is proposed to regenerate electricity and store it as a form of kinetic energy using the redundancy of control momentum wheels. This will save 20-25% of the regenerated electricity that would have otherwise been lost as recharging loss. Simulation results show that a three-second motion with the proposed control can save approximately 40-84 joules.< >
Modeling and control problems for a three-joint robot handling a flexible plate in the vertical plane under gravity are treated. The dynamical model is obtained using Hamilton's principle, and the ordinary differe...
详细信息
Modeling and control problems for a three-joint robot handling a flexible plate in the vertical plane under gravity are treated. The dynamical model is obtained using Hamilton's principle, and the ordinary differential equations are obtained using modal analysis. Given the tip position, an iterative algorithm for solving the inverse kinematics is presented. The control torque is obtained using the feedback error learning method and the desired trajectory of the static bending deflection curve. Four three-layer neural networks are used to reduce the joint-angle feedback errors and bending vibration. Simulation results are given.< >
The Cellular Robotic System (CEBOT) is studied with the aim of realizing a self-organizing robotic system. A principle of the distributed decision making method for a multi-agents robotic system is reported. Some simp...
详细信息
The Cellular Robotic System (CEBOT) is studied with the aim of realizing a self-organizing robotic system. A principle of the distributed decision making method for a multi-agents robotic system is reported. Some simple control laws which each unit should obey are proposed. The conditions of parameters of the control laws to keep the total system stable are also discussed. To demonstrate the efficiency of the proposed method, a simple task (carry the object) is carried out by some mobile cells which obey the methods from simulation experiments. The optimal number of cells to execute the task is evaluated and discussed.< >
A method for evaluating kinematic structures of parallel link manipulators based on the relation between actuator forces/moments and output forces/moments of the mechanism is proposed. The input/output force analyses ...
详细信息
A method for evaluating kinematic structures of parallel link manipulators based on the relation between actuator forces/moments and output forces/moments of the mechanism is proposed. The input/output force analyses proposed previously have been based on the manipulator Jacobian, in which forces and moments are dealt with together. Manipulators are analyzed in the present work by dealing with the output forces and the output moments independently. The translatability and the rotatability of the manipulators are evaluated on the basis of the output forces and moments for given input forces and moments. The kinematic structure is then analyzed on the basis of translatability and rotatability of the manipulators. The method is natural and intuitive, in the sense that forces and moments having different dimensions are dealt with separately, and is useful for the design of the manipulator kinematic structure.< >
A strategy for motion planning of multiple robots as a multi-agent system is proposed. All the robots cannot communicate globally, but some robots can communicate locally and coordinate to avoid competition for public...
详细信息
A strategy for motion planning of multiple robots as a multi-agent system is proposed. All the robots cannot communicate globally, but some robots can communicate locally and coordinate to avoid competition for public resources. In such systems, it is difficult for each robot to plan its motion effectively, while considering other robots. Therefore, each robot determines its motion selfishly, planning its motion while considering the known environment and using empirical knowledge. The robot also considers its unknown environment, which includes the other robots, in the empirical knowledge. The genetic algorithm is used to optimize the motion of the planning. Each robot iteratively acquires knowledge of its unknown environment, expressed by fuzzy logic, and the system behaves efficiently as an evolutionary process. As an illustration, path planning by multiple mobile robots is considered.< >
A bimorph type of the optical piezoelectric actuator (PLZT) which has relatively large displacement is discussed. This optical actuator works under the on-off control of the UV beam irradiation. The response character...
详细信息
A bimorph type of the optical piezoelectric actuator (PLZT) which has relatively large displacement is discussed. This optical actuator works under the on-off control of the UV beam irradiation. The response characteristics of the actuator for the UV beam irradiation is shown. The response time of this actuator is improved compared with the previous one. An optical actuator-servosystem is proposed. Based on the mathematical model of the optical actuator, the transfer function of the optical servo control system is identified, and experiments are conducted. The experimental results agree with simulation results based on the mathematical model. Two application examples of this actuator are given. One is an optical gripper, while the other is an optical mobile robot.< >
This paper proposes an alternative control algorithm for the mechanical system which interferes with both an environment and a human operator (man-machine system). The algorithm is designed so as to control the dynami...
详细信息
This paper proposes an alternative control algorithm for the mechanical system which interferes with both an environment and a human operator (man-machine system). The algorithm is designed so as to control the dynamics of the mechanical system to imitate passive tool dynamics. The proposed control algorithm specifies the human force augmentation ratio and the maneuverability of the system. The stability of the system is guaranteed for the passive environment and the passive human dynamics; the stability of the proposed control system is verified using Popov's hyperstability theorem.
暂无评论