This paper presents a modeling method for a Mobile Modular robot(MMR) which is composed of a mobile platform and a modular manipulator, the kinematics analysis is made for both the mobile platform and the upper manipu...
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ISBN:
(纸本)9783642108167
This paper presents a modeling method for a Mobile Modular robot(MMR) which is composed of a mobile platform and a modular manipulator, the kinematics analysis is made for both the mobile platform and the upper manipulator. Then the dynamic equations are formulated considering the nonholonomic constraints and the controller is proposed with both the redundancy resolution and optimization of null space motion. A 5-DOF modular manipulator mounted on the mobile platform is built up to verify the proposed control law in the simulation and the results show the effectiveness of the proposed method.
This paper described Phase-amplitude control methods, based on fix step-size (FSS-LMS) and variable step-size (VSS-LMS) in ALINE neural network control respectively, were compared and analyzed on the simulated hydro-p...
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ISBN:
(纸本)9780769538044
This paper described Phase-amplitude control methods, based on fix step-size (FSS-LMS) and variable step-size (VSS-LMS) in ALINE neural network control respectively, were compared and analyzed on the simulated hydro-pneumatic suspension control system. The test results indicated that phase-amplitude control method could improve the sine signal reappeared accuracy in limited range, efficiently realize sine signal coordinated loading control for same or not phase and amplitude by adjusting input signals, and be suitable for more coordinated loading control in multi-channel system.
The research field Mechatronics is still fast growing. It combines the various engineering and science topics of mechanics, electronics, physics, mathematics and computer science into an integrated approach. This inte...
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ISBN:
(纸本)9789604741014
The research field Mechatronics is still fast growing. It combines the various engineering and science topics of mechanics, electronics, physics, mathematics and computer science into an integrated approach. This interdisciplinary view on technical issues enables the improved design of sophisticated systems meeting the increasing demands on performance, size and weight. Almost any research topic in this exciting field comprises new developments or optimization in general using state of the art techniques. In this paper some selected case studies of the current research in various applications in the field of mechatronic are presented which are in progress at the Institute of Applied Mechanics, TUM.
This paper presents the TosNet network, created for robotics research, education, and prototyping, emphasizing ease of use, robustness, compactness, flexibility and fast hard realtime response, to allow distribution o...
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ISBN:
(纸本)9789639799516
This paper presents the TosNet network, created for robotics research, education, and prototyping, emphasizing ease of use, robustness, compactness, flexibility and fast hard realtime response, to allow distribution of all levels of the robotcontrol system. The current implementation of TosNet supports up to 15 nodes, with cycle-rates up to 25 kHz, depending on the configuration. The protocol stack is completely specified as VHDL code, implemented in an FPGA. The physical layer is implemented with Toslink fiberoptic links, offering a compact, robust and highly available link technology. The network uses a shared memory model, where a block of memory is mirrored across all attached nodes each cycle, offering a simple, easy-touse software interface between nodes.
The proceedings contain 99 papers. The topics discussed include: constrained suboptimal dual control algorithms for discrete-time stochastic systems;control of fuzzy switched time-delay uncertain systems: an improved ...
ISBN:
(纸本)9783902661661
The proceedings contain 99 papers. The topics discussed include: constrained suboptimal dual control algorithms for discrete-time stochastic systems;control of fuzzy switched time-delay uncertain systems: an improved robust output feedback design;creation of a robot that is conscious of its experiences;data and knowledge driven adaptive evidential soft sensor model for monitoring unmeasured parameters;data preprocessing in data based process modeling;design and development of feedback control hydraulic airbrake actuators for a high performance aircraft;detection of signal drifts by different control charts;discrete PDC control design with observer for trajectory tracking of non-holonomic mobile robot;DSP based sensorless PM DC drives using a proportional plus sliding mode control;electronic nose for a fire detection system by neural networks;estimation based PID controller-sensorless wave based technique;and evolutionary optimization methods for predictive on-off control.
Humanoid robots are extremely complex systems, where a multi-layer control architecture is necessary to guarantee a stable locomotion. In the lower layer, joint control has to track as finely as possible references pr...
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ISBN:
(纸本)9783642108167
Humanoid robots are extremely complex systems, where a multi-layer control architecture is necessary to guarantee a stable locomotion. In the lower layer, joint control has to track as finely as possible references provided by higher layers. A new approach to precisely control humanoid robot joints is presented in this paper. It is based on algebraic control techniques and on a model-free control philosophy. An online black-box identification pen-nit to compensate neglected or uncertain dynamics, such as, on the one hand, transmission and compliance nonlinear effects, and on the other hand, network transmission delays.
In this paper, one algorithm used to control eye-in-handrobot motion is studied and simulated. First, the fundament matrix of visual system is computed based on epipolar geometry;then the matrix is segmented to get t...
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ISBN:
(纸本)9783642108167
In this paper, one algorithm used to control eye-in-handrobot motion is studied and simulated. First, the fundament matrix of visual system is computed based on epipolar geometry;then the matrix is segmented to get the instantaneous poses and moving trajectories of end-effector based on IBVS. Finally one simulating experiment is completed and the experimental results demonstrate the efficiency of the proposed mothod.
We are developing a remote visitor robot. We can join a conference from a remote place through Internet as if we ride in the robot. Our faces are shown in PC display. We communicate through Skype (TV phone system). Th...
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In this paper, we propose an acoustic-based head orientation estimation method using a microphone array mounted on a wheelchair, and apply it to a novel interface for controlling a powered wheelchair. The proposed int...
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ISBN:
(纸本)9789639799516
In this paper, we propose an acoustic-based head orientation estimation method using a microphone array mounted on a wheelchair, and apply it to a novel interface for controlling a powered wheelchair. The proposed interface does not require disabled people to wear any microphones or utter recognizable voice commands. By mounting the microphone array system on the wheelchair, our system can easily distinguish user utterances from other voices without using a speaker identification technique. The proposed interface is also robust to interference from surrounding noise. From the experimental results, we confirm the feasibility and effectiveness of the proposed method.
This paper describes a design and development of a Graphical User Interface (GUI) Panel for Microprocessor-based controller for a flying robot applications. The robot consists of a mini-aerial helicopter with a build-...
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