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 b...
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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.
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 v...
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.
The fusion of magnetic levitation technology androbot is an important direction in the research of precision robot. Aiming at the motion characteristics of magnetic levitation robot realized by elastic deformation, t...
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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 an...
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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 robus...
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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.
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 measurem...
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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.
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...
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.
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 functio...
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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.
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 ...
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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.
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-age...
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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.
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