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2nd international conference on Advanced robotics and Mechatronics (ICARM)

作者： Liang, Congyuan Yang, Chenguang He, Wei Li, Zhijun South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing Peoples R China

ISBN: (纸本)9781538632604

In this article, an iterative learning control method using Newton-Euler model is proposed to apply in compliance interaction tasks. With the optimal impedance control model, the desired compliance performance would be able to be obtained. A learning impedance control law is investigated for estimating the system's unknown parameters. What's more, the control method proposed in this paper does not require the accurate measurement of the contact force. By applying Newton-Euler model to describe the manipulator model, the method will be more efficient. A rigorous analysis is also given in this paper. The validity of the proposed method is verified by simulations.

关键词： Impedance Manipulator dynamics robot kinematics Force Mathematical model

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proceedings of the 2020 2nd international conference on robotics, Intelligent control and Artificial Intelligence, RICAI 2020

Proceedings of the 2020 2nd International Conference on Robo...

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2nd international conference on robotics, Intelligent control and Artificial Intelligence, RICAI 2020

ISBN: (纸本)9781450388306

The proceedings contain 81 papers. The topics discussed include: research on AGVS dynamic path planning method based on UGNL;development of a new-style desktop manipulator;occlusion-aware discriminative networks for visual object tracking;design and research of a highly adaptive autonomous wallclimbing robot;research on application of robot and IOT technology in engineering quality intelligent inspection;the design of laser rangefinder based on MCU;color restoration algorithm of Rubik's cube color block based on SVM classification;the development and prospection of automatic courier sorting robot;design of follow-up measurement module;and modeling, simulation and verification of quadrotor UAV.

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Research on Intelligent control technology of Maglev robot Based on Neural Network 2

Research on Intelligent Control Technology of Maglev Robot B...

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2nd international conference on Computer, control and robotics, ICCCR 2022

作者： He, Qin Kong, Min Wenhua College Mechanical and Electrical Engineering Department Wuhan China

ISBN: (纸本)9781665466745

The fusion of magnetic levitation technology and robot is an important direction in the research of precision robot. Aiming at the motion characteristics of magnetic levitation robot realized by elastic deformation, this paper proposes that in the aspect of intelligent target positioning of magnetic levitation robot, multi-target recognition and detection calculation method of convolution neural network is used to accurately locate the target object;in the model-based torque control structure, the magnetic levitation robot is established. The parallel processing RBF neural network model of the inverse motion problem of the floating robot could improve the solution speed while maintaining a certain accuracy. In order to improve the trajectory tracking accuracy of the maglev robot, BP neural network has been used based on the traditional sliding mode variable structure control. Simultaneous interpreting the mapping relationship between the master control module and the sensor, the neural network algorithm reduces the network weight by means of error back propagation. Then, when the heading angle and longitudinal velocity of the maglev robot are time-varying, the path following has been controlled. The application of these strategies would have a certain reference value for the effective intelligent control of Maglev robot. © 2022 IEEE.

关键词： Neural network models

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Modelling and analysis of two-wheeled self balanced robot 2

Modelling and analysis of two-wheeled self balanced robot

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2nd international conference for Emerging technology, INCET 2021

作者： Kakinada, Likhitha Singh, Kuldeep Delhi Technological University Dept. of Electrical Engineering Delhi India

ISBN: (纸本)9781728170299

Two wheeled self-balancing robot finds several applications in real life as well as for testing the effectiveness of various control algorithms. This paper concentrates on the modelling of a two-wheel dynamic robot and control design. In addition, a controller known as the Linear Quadratic Regulator (LQR) is utilized for simulating the system's stabilization. The controller is robust enough to refuse system disturbances and noises. Through the Lagrange equation of the robot's broad co-ordinates, the mathematical model is established, which is then changed as a state spatial system. To determine system performance, Matlab simulation is used. The results of the simulation show that the method proposed stabilizes the system at the position and angle. Different graphs have been shown in the paper to illustrate how the simulation operates. © 2021 IEEE.

关键词： controllers

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Design of a RLS-Based Real-Time State Observer for Estimating Joint Accelerations and Inertias of a robot Manipulator 7

Design of a RLS-Based Real-Time State Observer for Estimatin...

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7th international conference on robot Intelligence technology and Applications (RiTA)

作者： Lee, S. D. Jung, S. Chungnam Natl Univ Mechatron Engn Dept Daejeon 34134 South Korea

ISBN: (纸本)9781728131184

In this paper, a RLS-based real-time state observer for a robot manipulator is designed. The availability of both the inertial mass and acceleration information in real time provides control efficiency to design robust control methods such as time-delayed control. Since it is difficult to model the inertia and to measure the acceleration accurately, an RLS-based joint model observer (RLS-SOB) is designed to estimate the inertial mass of each joint as well as angular acceleration in real time as the configuration of 2nd order linear model. The proposed method is empirically verified for a robot manipulator.

关键词： Machine design

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Three-Coordinate Gravimeter with Exhibition of Axis Sensitivity Based on Digital Videoimages 19

Three-Coordinate Gravimeter with Exhibition of Axis Sensitiv...

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2nd international conference on Image and Graphics Processing (ICIGP) / 5th international conference on Virtual Reality

作者： Korobiichuk, Igor Podchashinskiy, Yuriy Bezvesilna, Olena Nechay, Sergiy Shavurskiy, Yuriy Warsaw Univ Technol Inst Automat Control & Robot Ul Boboli 8 PL-02525 Warsaw Poland Zhytomyr State Technol Univ Chudnivska Str 103 UA-10005 Zhytomyr Ukraine Natl Tech Univ Ukraine Igor Sikorsky Kyiv Polytech Inst Prosp Peremohy 37 UA-03056 Kiev Ukraine

ISBN: (纸本)9781450360920

The paper presents a new design of a three-axis gravimeter of aviation gravimetric system, which provides compensation for errors caused by influence of mobile base vertical accelerations and in the result of measurement of full gravity acceleration vector. Angle of inclination of a mark that is applied to a gravimeter body and coincides with vertical sensitive axis direction is determined by linear approximation in digital video images. These data are used to point sensitive axes and improve gravimeter accuracy.

关键词： three-axis gravimeter pointing of sensitive axis digital video image linear approximation

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proceedings - 2017 2nd international conference on Cybernetics, robotics and control, CRC 2017

Proceedings - 2017 2nd International Conference on Cyberneti...

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2nd international conference on Cybernetics, robotics and control, CRC 2017

ISBN: (纸本)9781538606773

The proceedings contain 36 papers. The topics discussed include: head following control method of a mobile continuum robot for deep-cavity inspection;sliding mode control of three-links spatial robot based on low-pass filter;kinematic analysis and trajectory planning for serial robot in hazardous biochemical treatment;trajectory tracking control of WMR based on sliding mode disturbance observer with unknown skidding and slipping;calibration method and simulation of kinematic parameters for light-weight robot based on flexible error analysis;motion planning of automatic press line with hybrid type transferring robot;mechanism design and analysis for an automatical reconfiguration cable-driven parallel robot;an efficient fuzzy alarm system for improving human performance in supervisory task;design of a two-point-contact fingertip tactile force feedback device;and sensorless control of three-phase permanent magnet synchronous motor based on fundamental wave mathematical model.

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The Optimizing Design of Wheeled robot Tracking System by PID control Algorithm Based On BP Neural Network

The Optimizing Design of Wheeled Robot Tracking System by PI...

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2nd international conference on Industrial Informatics - Computing technology, Intelligent technology, Industrial Information Integration (ICIICII)

作者： Ma, Lichao Yao, Yunping Wang, Meng Lanzhou Univ Technol Lanzhou Peoples R China

ISBN: (纸本)9781509035755

The tracking system of robot was optimized by using the fuzzy BP neural network PID control algorithm in this paper, which was based on the traditional PID control algorithm. The control algorithm combines the functions of fuzzy control, the neural network control and the traditional PID control algorithm, which resulted The PID control has the ability of logical reasoning and computing. The system collects the scheduled route information through the sensor module and altogether with the actual output of the system constitute the excitation signal of the neural network. The MATLAB software is used to simulate the system in this paper, compared with the result of the simulation of traditional PID control algorithm. The result shows that optimize design of wheeled robot tracking system with PID control algorithm based on BP neural network has better adaptive ability and self-learning ability and the improvement of the stability of wheeled robot tracking system.

关键词： fuzzy control BP neural network PID control Wheeled robot

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Representation of behavioral history for learning in nonstationary conditions

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robotICS And AUTONOMOUS SYSTEMS 1999年第2-3期29卷 187-200页

作者： Michaud, F Mataric, MJ Univ Sherbrooke Dept Elect & Comp Engn Sherbrooke PQ J1K 2R1 Canada Univ So Calif Dept Comp Sci Los Angeles CA 90089 USA

A robot having to operate in nonstationary conditions needs to learn how to modify its control policy to adapt to the changing dynamics of the environment. Using the behavior-based approach to manage the interactions between the robot and its environment, we propose a method that models these interactions and adapts the selection of behaviors according to the history of behavior use. The learning and the use of this "Interaction Model" are validated using a vision- and sonar-based Pioneer I robot in the context of a multi-robot foraging task. Results show the effectiveness of the approach in taking advantage of any regularities experienced in the world, leading to fast and adaptable specialization for the learning robot. (C) 1999 Elsevier Science B.V. All right reserved.

关键词： robot learning multi-robot experiments nonstationary conditions behavior-based representation self-evaluation of performance

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Design of Coal Mine Safety Monitoring System Based on Multi-Agent 2021

Design of Coal Mine Safety Monitoring System Based on Multi-...

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2nd international conference on Artificial Intelligence and Information Systems (ICAIIS )

作者： Wang, Chunling Chen, Haoran Anhui Sanlian Univ Inst Robot Engn Hefei Peoples R China Anhui Sanlian Univ Intelligent Sci & Technol Hefei Peoples R China

ISBN: (纸本)9781450390200

Aiming at the complex production environment and harsh conditions of existing coal mines, and the shortcomings of many underground workers, small construction space, labor-intensive, etc., this paper applies multi-agent technology to the coal mine safety monitoring system, and designs a coal mine safety monitoring system based on Multi-Agent. The system mainly includes Human-Machine Interface Agent, Main control Agent, Management Agent and Monitoring Agent. Main control Agent and Management Agent communicate through Ethernet, and between Management Agent and Monitoring Agent communicate through wireless network technology. These four categories Agents coordinate and cooperate with each other to complete the underground coal mine safety monitoring task to provide a highly integrated and reliable monitoring system for the underground production environment of the coal mine, improve the comprehensive management environment and production safety rate of the coal mine, and increase the real-time and reliability of the entire system. It is of great significance to coal mine safety.

关键词： Multi-agent technology real-time reliability styling coal mine safety monitoring system

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