Most industrial robots nowadays still employ strategies that neglect or minimize the effects of task dynamics. Some tasks, however, are intrinsically dynamic and can only be accomplished by considering their dynamic a...
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ISBN:
(纸本)9781424480920
Most industrial robots nowadays still employ strategies that neglect or minimize the effects of task dynamics. Some tasks, however, are intrinsically dynamic and can only be accomplished by considering their dynamic aspects. We address ball catching as a prominent and widely studied example for such a task. The paper follows a special approach to accomplish the task: the nonprehensile catching, which means catching without a form- or force-closure grasp. Depending on the tracked ball velocity, two different catching methods are proposed: First, catching of the ball during the initial contact. Second, catching the ball after an initial rebounce during the subsequent contact. For both approaches, the ball trajectory is predicted with a recursive least squares algorithm. The dynamic manipulability measure is used for the contact point selection. Once a permanent contact between ball and end effector is established, a balancing control based on force/torque feedback is applied. Both methods are experimentally validated using a six DoF industrial robot.
The authors outline a novel approach to real-time control that is based on developing and maintaining a knowledge base about the system to be controlled. The knowledge base comprises information relating to the plant ...
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ISBN:
(纸本)0818607874
The authors outline a novel approach to real-time control that is based on developing and maintaining a knowledge base about the system to be controlled. The knowledge base comprises information relating to the plant and its environment and is used to determine the desired control signals required to obtain the desired response from the plant. The control methodology devised has been used to achieve motion control of a single-axis electric module intended for robotic applications. The results obtained are encouraging and show a marked improvement over classical control techniques. For the knowledge based controller, methods of updating the system representation for environmental changes are proposed through the use of indirect and direct identification techniques.
The investigated fault tolerant control (FTC) problem for uncertain nonlinear systems with external disturbances against actuator faults is addressed. The aim is to synthesize a fault tolerant controller ensuring traj...
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ISBN:
(纸本)9781457700187
The investigated fault tolerant control (FTC) problem for uncertain nonlinear systems with external disturbances against actuator faults is addressed. The aim is to synthesize a fault tolerant controller ensuring trajectory tracking for a class of nonlinear systems represented by Takagi-Sugeno (T-S) models with measurable premise variables. In order to design the FTC law a proportional integral observer (PIO) is adopted which estimate both of the faults and the faulty system states. Based on Lyapunov theory, and L-2 optimization, the trajectory tracking performance and the stability of the closed loop system are analyzed. Sufficient conditions are obtained in terms of linear matrix inequalities (LMI). Simulation results show the effectiveness of the proposed method.
To study the relationship between the ground support force and drawbar pull of C-leg and the normal and shear stress on the wheel flange, while the C-leg of the six-legged bionic sand-based robot travels on the sand b...
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To study the relationship between the ground support force and drawbar pull of C-leg and the normal and shear stress on the wheel flange, while the C-leg of the six-legged bionic sand-based robot travels on the sand base, the integral model of the above relationship are given on the basis of the designed C-leg loop experimental platform. To solve the limitation of sensors, a "position weighted average numerical interpolation method" is proposed. The normal stress and shear stress sensor on the wheel flange obtained corresponding data by experiment. A number of values are inserted between the measured values of the sensors by the "position weighted average numerical interpolation method". The ground support force and drawbar pull are calculated by the given integral model. At the same time, the three-dimensional force sensor installed on C-leg axle measured ground support force and drawbar pull through the test. The relative error of above force calculated from the integral model is 4.69% and 1.16% respectively compared with the mean value measured by the three-dimensional force sensor. The relative error is less than 5%, which verifies the correctness of the integral model and the feasibility of "position weighted average interpolation method".
This paper considers the problem of dynamic reconfiguration of a group control system (GCS) for mobile robots operating in a non-deterministic changing environment. Changes in the environment or in the group task spec...
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A real-time hand gesture recognition system is developed for human-robot interaction of service robot. The proposed system is mainly composed of two subsystems: one for gesture recognition, and the other for the class...
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In the paper we deal with control of spatially invariant systems described by parabolic partial differential equations with one temporal and one spatial variables. We propose an algorithm for design of deadbeat contro...
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In the paper we deal with control of spatially invariant systems described by parabolic partial differential equations with one temporal and one spatial variables. We propose an algorithm for design of deadbeat controllers. The algorithm is based on polynomial methods. It consists in solving a linear equation with bi-variate polynomials. Numerical example and simulations are included.
The CI (Covariance Intersection) fusion method avoids the computation of the cross covariance, and gives the consistent fused estimation. By the CI fusion method, based on the modern time series analysis method, the m...
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Multi resolution modeling is a key technology in distributed interactive simulation system. This paper analyzed the basic principles and existing difficulties of multi-resolution modeling technology in the background ...
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Electric vehicle (EV) charging in complex environments presents significant challenges, precise and adaptable interaction between robotic systems and vehicle charging plugs. This paper introduces a novel approach util...
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