As an essential device in the field of intelligent manufacturing, the motion control precision and stability of workshop handling robots directly impact production efficiency. Traditional PID control has limitations, ...
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ISBN:
(纸本)9798350377040;9798350377033
As an essential device in the field of intelligent manufacturing, the motion control precision and stability of workshop handling robots directly impact production efficiency. Traditional PID control has limitations, such as slow response and large overshoot, when dealing with nonlinear and time-varying systems. Fuzzy PID control, by introducing fuzzy logic, enables online adaptive adjustment of PID parameters, effectively enhancing the robustness and dynamic performance of the control system. This study focuses on workshop handling robots and proposes a motion control method based on fuzzy PID. First, the motion control requirements and challenges for workshop handling robots are analyzed. Next, fuzzy control rules are designed, and parameter self-tuning is implemented by integrating traditional PID control. Finally, simulations and experiments demonstrate the significant advantages of the proposed method in path tracking accuracy, stability, and anti-interference capabilities. The results indicate that the fuzzy PID-based control method is better suited to complex workshop environments, providing an efficient and reliable solution for robot motion control in intelligent manufacturing.
Starting from the fact that the Field Oriented control (FOC) control strategy of the Permanent Magnet Synchronous Motor (PMSM) gives good results in terms of the usual indicators of response time quality, overshoot, s...
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ISBN:
(纸本)9798350364309;9798350364293
Starting from the fact that the Field Oriented control (FOC) control strategy of the Permanent Magnet Synchronous Motor (PMSM) gives good results in terms of the usual indicators of response time quality, overshoot, steadystate error, but only in the usual operating range of the PMSM. The Maximum Torque Per Ampere (MTPA) control type strategy is utilised to limit current during operation while maintaining the required load torque, while the Field Weakening (FW) control type strategy is used to achieve speeds above the rated speed of the PMSM. These strategies are also complemented by the use of a Model Reference Adaptive System (MRAS) observer for PMSM rotor speed estimation and a Butterfly Optimization Algorithm (BOA) for achieving optimal values of the PI speed controller according parameters. The PMSM operating equations and the FOC, MTPA, and FW control strategies are also presented, together with the implementation structures in the Matlab/Simulink software programming environment. The features of these PMSM controlsystems in the corresponding operating regimes are presented through numerical simulations accomplished through Matlab/Simulink.
This paper focuses on developing a simulation platform that enhances Human-Robot Interaction through intuitive and safe interchanges between human operators and a UR5e robot by operating a Digital Twin via Mixed Reali...
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ISBN:
(纸本)9798350364309;9798350364293
This paper focuses on developing a simulation platform that enhances Human-Robot Interaction through intuitive and safe interchanges between human operators and a UR5e robot by operating a Digital Twin via Mixed Reality. Using the ROS Noetic framework and Unity software for development, in conjunction with Microsoft HoloLens 2, this work presents a system based on Mixed Reality designed for collaborative robotic experiences. Moreover, a key innovation in this research is integrating a ZED camera for real-time human tracking, which enables the simultaneous simulation of humans and robots within a shared mixed environment. This advancement builds upon an existing digital twin of the robot. However, it also significantly enriches the system's capabilities for ensuring safety and facilitating intuitive interactions, validating the implemented methodology through simulation and real-life experimental results. The paper examines the implications of this development in different industrial and research contexts. It highlights the growing significance of mixed-reality technologies in creating complex human-robot interaction systems that ensure safety and efficiency.
As IoT expands dynamically, cybersecurity threats are evolving with time;thus, classical malware detection systems are no more appropriate, due to the phenomenon of concept drift and the necessity of handling large am...
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In this paper, a railway control algorithm is proposed for a coordinated stop of a convoy at stations in a virtual coupling system. The control algorithm uses a decentralized robust model predictive control in a novel...
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ISBN:
(纸本)9798350399462
In this paper, a railway control algorithm is proposed for a coordinated stop of a convoy at stations in a virtual coupling system. The control algorithm uses a decentralized robust model predictive control in a novel application to railways of a predecessor-leader following communication topology. Thus, each train in the convoy takes its control actions based on different in-front-train references, obtaining one optimal solution that takes the train just ahead as a reference and a second optimal solution that takes the leader of the convoy as a second reference. Between the two optimal solutions, the final control strategy selects the minimum of the two control actions. The simulations of the control algorithm corroborate that this control algorithm enhances a coordinated stop of the convoy at stations, while it does not affect the behavior of the convoy in normal operation. The simulations pointed out that the algorithm might also affect the behavior of the convoy under perturbed conditions, but its real impact needs to be investigated. Future research lines include further communication topologies and centralized controllers exclusively involving the trains of the convoy linked through the communication topology.
This paper presents a vision-based demonstration data collection platform designed to facilitate dexterous robot manipulation for the relocation task. The platform comprises three stages: video capture, pose estimatio...
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ISBN:
(纸本)9798331517939;9788993215380
This paper presents a vision-based demonstration data collection platform designed to facilitate dexterous robot manipulation for the relocation task. The platform comprises three stages: video capture, pose estimation, and retargeting to the robotic hand, which is then mapped into a simulation environment for behavior learning. To ensure the quality of data for reinforcement learning and imitation learning, various scenarios were considered during the video recording stage. We validated these expert datasets using the DAPG (Demonstration-Augmented Policy Gradient) algorithm, which combines the strengths of reinforcement learning and imitation learning. The successful completion of the relocation task demonstrates the effectiveness of the diverse state data collection.
This paper presents an advanced control error processing to enable the feedback position control of an industrial robot based on external sensor signals for dual-stage actuation. A measurement module comprising a magn...
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ISBN:
(纸本)9798350355376;9798350355369
This paper presents an advanced control error processing to enable the feedback position control of an industrial robot based on external sensor signals for dual-stage actuation. A measurement module comprising a magnetically levitated platform with an integrated 3D measurement tool is mounted as end effector on the industrial robot. The industrial robot is used to maintain the measurement platform within its limited actuation range, while actively tracking a sample in motion. The measurement module provides the short stroke but precision positioning of the measurement tool relative to a sample surface in 6-DoF. For a feedback controlled repositioning of the industrial robot's tool center point based on the internal measurement platform's position signals, a real-time interface is used. The implementation of the advanced control error processing successfully demonstrates the active tracking of a sample in motion, with residual tracking errors of 473 nm rms in sample-motion direction.
This is an innovative System for any client generally focusing on the matured populace as a clinical aide. This paper proposes an application which is an integration of many important medical implementations into a si...
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In the era of Big Data, the computational demands of machine learning (ML) algorithms have grown exponentially, necessitating the development of efficient parallel computing techniques. This research paper delves into...
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In this paper, by using the flux-controlled memristor model, the finite-time synchronization problem of delayed complex-valued memristive neural networks (MCNNs) is studied. Firstly, according to the proposed memristo...
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