This paper describes the control method and mathematical model of a two-wheels self-balancing mobile robot. The mobile robot designed by author uses two parallel wheels to keep balance and uses a three axes gyroscope ...
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Humanoid walking trajectory is a complicated task due to a large number of degrees of freedom (DOFs) and varies in mechanical structure during walking. This paper first introduces a newly designed mechanism, an 8 DOF ...
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Copying human physiology leads us to the first truly anthropomimetic robot - ECCErobot, driven by the antagonistically coupled compliant drives. control design of such a mechanism appears as a really demanding and cha...
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ISBN:
(纸本)9780889869035
Copying human physiology leads us to the first truly anthropomimetic robot - ECCErobot, driven by the antagonistically coupled compliant drives. control design of such a mechanism appears as a really demanding and challenging mission. Puller-follower concept, developed for the robotic joint with antagonistically coupled drives, is expanded to the multi-joint control level. Problems in control of the multi-jointed anthropomimetic robot are highlighted in this paper, and solutions through the robust control and model based compensations are proposed.
In this paper, kinematics analysis and dynamic modeling of a novel spatial parallel robot is elaborated. The proposed mechanism is to be exploited in a compounded serial-parallel mobile robotic system to accomplish st...
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In this paper, the structure of a mammal-Like hexapod walking robot is presented and the joint trajectory planning method of tripod gait is analyzed. The motions with 12 degrees of freedom (DOF) for the robot are reaL...
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This paper is concerned with fractional identification of state space model of continuous time MIMO systems. The methodology used in this paper involves a continuous-time fractional operator allowing to find fractiona...
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This paper presents the challenges and successes of developing several control architectures on a custom designed quadcopter. In order to achieve this goal, it was necessary to use parameter identification to create a...
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ISBN:
(纸本)9780889869035
This paper presents the challenges and successes of developing several control architectures on a custom designed quadcopter. In order to achieve this goal, it was necessary to use parameter identification to create a model of the kinematic equations, simulate the model with several control architectures in MATLAB/Simulink and finally test the algorithm on the actual hardware. The results of the simulation indicate that it is possible to design a controller to allow the quadcopter to hover stably. However, in order to implement this architecture on the hardware andcontrol the attitude, it is necessary to have more information about the sensor data, more accurate parameter identification of the model and more robust control architecture to handle uncertainty in the plant.
A sliding mode controller based on self-organized fuzzy neural networks (SMCSOFNN) is presented for trajectory tracking control of multi-link robots with model errors and uncertain disturbances. This approach gives a ...
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By Binocular Vision way, this paper aimed to research welding image process of weld seam based on crawling robot. It built a developed suitable tracking control policy and software flatform. Some filters have been stu...
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The key problem to realize the automatic control track follower is how to detect the routine condition according to the signal getting from the sensors. Because the road condition is very complex and there are too man...
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