After the completion of the overall design for the robot fish, in order to validate correctness of robot fish machine kinematics and dynamics analysis and to learn whether each module can work reliably and achieve the...
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This paper proposes a model of a cerebellum motor learning based on a neuroadaptive robot manipulator *** control is chosen as the basis of the model in preference to alternative robotcontrol strategies because muscl...
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This paper proposes a model of a cerebellum motor learning based on a neuroadaptive robot manipulator *** control is chosen as the basis of the model in preference to alternative robotcontrol strategies because muscles do not act like pure force generators such as torque motors nor as pure displacement devices such as stepper motors but instead act more like tunable springs or compliance *** control has the further advantage that it is applicable for a variety of motor tasks,and is both more robust and simple than alternative control *** results are presented to verify the performance of the proposed *** results are presented for the applications of impedance control to the case where the end-effector is interacting with surfaces to avoid obstacles.
The paper studies how to implement the motion simulation of scara robot, using Visual Basic 6.0 program language based on OpenGL and STL data model. After reading the STL data model, we can easily render the 3D model ...
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By kinematic analysis on autonomous tracing robot, establish the relation between robot linear velocity, angular velocity and actuating motor velocity, contrive tracing sensor array symmetrically front and back, and a...
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By kinematic analysis on autonomous tracing robot, establish the relation between robot linear velocity, angular velocity and actuating motor velocity, contrive tracing sensor array symmetrically front and back, and advise fuzzy control algorithm to identify motion path. The method has been proved well by experimental verification.
The detection of the boom rotating angle during the heading process of the roadheader robot was the key technology of the automatic control for the roadheader. With the boom always been a certain angle to the vertical...
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Reactobot is a one-wheel robot developed at IIT Bombay. It is balanced by reaction wheel actuator suspended from the central axis. The robot can get accelerated in forward or backward direction by pitching the pendulu...
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Reactobot is a one-wheel robot developed at IIT Bombay. It is balanced by reaction wheel actuator suspended from the central axis. The robot can get accelerated in forward or backward direction by pitching the pendulum mass within the wheel in the same direction. Turns can be- executed by tilting robot to right or left while in motion. In this paper, we describe multi-body dynamic model of the Reactobot. The mathematical model of Reactobot is developed using the Lagrangian constrained generalized formulation. Dynamic model is highly nonlinear and Jacobian linearization has been used to obtain a linear model for operation close to vertical rolling motion. LQR control scheme is proposed to design controller for linearised model. Simulation results demonstrate the effectiveness of this scheme.
By using sliding-mode control and torque control based on RBF neural networked control, a new trajectory tracking control system of wheeled mobile robot is presented. Studying both kinematic and dynamical model, the R...
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ISBN:
(纸本)9781457705359
By using sliding-mode control and torque control based on RBF neural networked control, a new trajectory tracking control system of wheeled mobile robot is presented. Studying both kinematic and dynamical model, the RBF neural networks learn the process of mobile robot motion, and constitutes a torque controller combined with the speed error. The uniformly ultimately asymptotic stability of the closed loop error system can be obtained. The stability of entire system is proved by Lyapunov stability criterion. The simulation results demonstrate that this control strategy has good robustness.
In some applications, biped robots are preferred to wheeled robots since biped robots are able to move in various environments with different conditions. However, stable walking for biped robots is a challenging issue...
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In some applications, biped robots are preferred to wheeled robots since biped robots are able to move in various environments with different conditions. However, stable walking for biped robots is a challenging issue. Various approaches have been developed to improve these robots performance. In this paper, we first introduce a different mechanical design of biped robots based on parallel mechanism and then compare it with conventional design of robots. Then we formulate dynamic equations of this biped robot and generate some trajectories for the joints. Finally, the proposed design is validated by experimental results.
One of the main challenges for biped robots is to step over large obstacles during walking. In this paper, a control method is proposed for walking and stepping over large obstacles based on the Nonlinear Model Predic...
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One of the main challenges for biped robots is to step over large obstacles during walking. In this paper, a control method is proposed for walking and stepping over large obstacles based on the Nonlinear Model Predictive control (NMPC) method. One of the main advantages of the proposed method is that it is trajectory free, which gives the robot the ability to step over any feasible obstacle. Moreover, the NMPC guarantees dynamic stability during walking and crossing over the target. In addition, a multilayer perceptron neural network is employed for identification of the dynamic model of the robot. In this way, the proposed method can cope with uncertainties in the robot model. Simulation results show good performance of the proposed method applied to a 173 cm robot stepping over a 40×15cm obstacle dynamically in the sagittal plane while maintaining a safety clearance from it, without any need for reference trajectory.
This paper presents a dynamic modeling andcontrol for fast walking of seven link biped robots in the sagittal plane. First, the dynamic equations of motion are derived with a convenient method that simplifies the der...
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This paper presents a dynamic modeling andcontrol for fast walking of seven link biped robots in the sagittal plane. First, the dynamic equations of motion are derived with a convenient method that simplifies the deriving procedure significantly. The impact of biped's foot with the ground is considered and the corresponding effects are taken into accounts. By a systematic approach, the trajectories of hip and two ankle joints are formulated first and then the joint angle profiles are expressed according to the biped geometry. Finally, the sliding mode controller is developed to control bipedal walking. The computer simulation results attest good walking process for seven link biped robot.
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