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检索条件"任意字段=Proceedings of the 2019 2nd International Conference on Control and Robot Technology"

共 3963 条记录，以下是3551-3560 订阅

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A bionic gait programming algorithm for Hexapod robot 09

A bionic gait programming algorithm for Hexapod robot

引用

2nd international conference on Interaction Sciences: Information technology, Culture and Human, ICIS 2009

作者： Lv, Xiaohu Liu, Yongxin College of Electronic Information Engineering Inner Mongolia University Hohhot 010021 China

ISBN: (纸本)9781605587103

The gait movement mechanism of hexapod robot with 18-DOF (degree of freedom) is analyzed in this paper. Mainly focus on the robot walking process, it is analyzed that the kinematics characteristics, static stability, walking in straight line using tripod gait, turning gait around fixed-point and the basis for tracking select of foot-point. According to these investigations above, the joint angles control arithmetic is designed, and the algorithm has been transplanted into a single chip computer control system. This control algorithm for hexapod robot has been proved correctness and effectiveness by the experiment results. Copyright © 2009 ACM.

关键词： Computer control systems

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A Set of Globally Stable Output Feedback N-PID Regulators for robotic Manipulators

A Set of Globally Stable Output Feedback N-PID Regulators fo...

引用

2nd international conference on Intelligent Computation technology and Automation

作者： Liu, Bai-shun Chen, Zhi-Peng Acad Naval Submarine Dept Battle & Command Qingdao Peoples R China

ISBN: (纸本)9780769538044

This paper deals with the position control problem of designing asymptotically stable proportional plus integral regulators with only position feedback for robot manipulators with uncertain and varying-time payload. Proposed is a set of output feedback N-PID regulators consisting of a linear combination of the proportional control mode, derivative control mode, nonlinear control mode shaped by a nonlinear function of position errors, linear integral control mode driven by derivative feedback, and nonlinear integral control mode driven by a nonlinear function of position errors, where the velocity feedback is replaced by a filtered position feedback. By using Lyapunov's direct method and LaSalle's invariance principle, the simple explicit conditions on the regulator gains to ensure global asymptotic stability are provided. The theoretical analysis and simulation results show that the output feedback N-PID control laws can be tuned to recover the performance of a state feedback control laws, that is, the output feedback control laws with the asymptotically stable integrators have the same fast convergence, good flexibility and strong robustness as the state feedback one, and then the same optimum response can be achieved by a set of control parameters in the whole control domain, even under the case that the payload is changed abruptly.

关键词： Manipulators robot control PID control Global stability Output feedback regulator

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Research of mobile robot locating technique Based on Omni-directional Vision

Research of mobile robot locating technique Based on Omni-di...

引用

2009 Joint international conference on Modelling and Simulation

作者： Xue, Sun Minglu, Zhang Yanfang, Zhang Xianyi, Meng School of Mechanical Engineering Hebei University of Technology Tianjin 300130 China Tangshan Ceramics Group Design Research Limited Company Tangshan 063000 China School of Information and Communication Engineering Tianjin Polytechnic University Tianjin 300160 China

ISBN: (纸本)9781846260612

A recognizing and fixing by landmarks system based on the omni-directional vision image environment is designed in this paper. The principle of fish-eye lens image formation is analyzed and the general software module of this system is proposed. Based on FPGA and DSP hardware architecture developed the embedded control module, used the computer image processing algorithm to compile the processing software, realized the distortion correction of fish- eye lens image formation and the function of mobile robot recognizing and fixing by landmarks. The system can be applied to the localization and guidance of mobile robot based on landmarks under the indoor and outside semi-structured environment.

关键词： Mobile robots

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Dynamics and control of flexible space robots system

Dynamics and control of flexible space robots system

引用

2009 Joint international conference on Modelling and Simulation

作者： Chunme, Zhangi Wentang, Wang Dept. Mechanical Design Manufacturing Engineering Henan Mechanical and Electrical Engineering College Xinxiang China

ISBN: (纸本)9781846260612

As space robots gain more and more importance in space operations, it was becoming imperative to understand their distinctive dynamics and control characteristics. In the absence of external forces and moments, the linear and angular momentums of the robot were conserved, so the dynamics of flexible space robotic systems could be quite complex and their control could be difficult. The motion of flexible space robot manipulators was systematically studied in this paper. Also kinematic, dynamic were presented. The sensory feedback control and the hybrid position/force control were discussed in this paper. Examples of computer simulation of the dynamics of a space robot with three flexible links, used the hybrid position/force control approach, were considered. Simulations results show that the dynamic modeling and control techniques of flexible space robot proposed in this paper are very useful.

关键词： Dynamics

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Designed for control system about transporting robot of automatic circling barrier

Designed for control system about transporting robot of auto...

引用

2nd international conference on Modelling and Simulation

作者： Yang Qing-xuan Wu Wen-tong Wang Xiao-jun Hu Cha-gen Ying Jian-zhong Jinggangshan Univ Sch Engn Jian 343009 Jiangxi Peoples R China

ISBN: (纸本)9781846260650

The paper considers the design of software and hardware of automatic control system about wheeled transporting robot. The series of C8051F310 MCU is selected as CPU of control system and FAULHABER3257-024CR DC motor as driver for this two wheels system. Sensors of circling barrier is used to monitor obstruction, The control system realizes closed loop control taking advantage of C language, Appropriate measures of circling barrier is used. Information of reaching fixed location is feed back by colour sensors, so actions of grabing or putting down block and rotations of whirling arm, which are controled by motor with open loop, are accomplished correspondingly.

关键词： MCU C language circling barrier automatic control

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The Flexible Two-Wheeled Self-balancing robot Based on Hopfield

The Flexible Two-Wheeled Self-balancing Robot Based on Hopfi...

引用

2nd international conference Intelligent robotics and Applications

作者： Ruan, Xian-gang Zhao, Jianwei Beijing Univ Technol Inst Artificial Intelligence & Robots Beijing 100124 Peoples R China

ISBN: (纸本)9783642108167

The linear model of flexible two-wheeled self-balancing robot that has been proved is used in the paper. The lumbar of robot is the spring. The discrete Hopfield neural network is used for controlling robot's posture based on association study. Study of biological control method to realize flexible robot posture control in the adaptive, self-organizing capacity, the reasonable energy function is defined for the non-linear and strong coupling robot, then design the Hopfield controller, used the dynamic function of flexible robot, which satisfied the need of robot's dynamic process. Analyze the convergence of the controller. Simulation experiments show the effectiveness of the method and proved the stability of system. Validity and rationality of the system controller designed are verified through the performance experiments of the prototype and analyzed the experiment result in detail. The robot like the human being not only structure, but also physiological intelligence.

关键词： Flexible robot lumbar Hopfield network

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The Design and Development of a flight control System for a Small Size Unmanned Helicopter

The Design and Development of a flight control System for a ...

引用

2nd international conference on Information and Computing Science

作者： Gong, Zhengbang Feng, Wei Gao, Tongyue Luo, Jun Shanghai Univ Dept Precis Mech Engn Shanghai Peoples R China

ISBN: (纸本)9780769536347

Small size unmanned helicopter has found diverse applications for both civil and military missions. In order to develop a flight robot based on a small size unmanned remotely controlled helicopter, a flight control system is presented in this paper. The hardware and software of the system are designed. The design goal is to have the helicopter achieve stable hover. As the kernel of the system, the flight control strategies are described which based on artificial neural network and human operator's skill. The processed flight data are used to train and validate a multilayer artificial neural network offline, and then the trained artificial neural network is reconstructed in the flight control system for control strategies.

关键词： small size unmanned helicopter flight control system Artificial Neural Network

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PACIIA 2009 - 2009 2nd Asia-Pacific conference on Computational Intelligence and Industrial Applications

PACIIA 2009 - 2009 2nd Asia-Pacific Conference on Computatio...

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2009 2nd Asia-Pacific conference on Computational Intelligence and Industrial Applications, PACIIA 2009

ISBN: (纸本)9781424446070

The proceedings contain 240 papers. The topics discussed include: an algorithm to segment the ventless tire mold;model and tool integration for modern diesel engine management system development;a novel distributed admission control mechanism in mobile ad hoc network;delay-range-dependent stability for static recurrent neural networks with time-varying delays;statistical feature representations for automatic wood defects recognition research and applications;study on legal affairs about e-insurance;a hybrid neural network and freight volumes application;the research of information management system for evaluating admitting new party member in college;a result of the wireless communication;chaos of a class of Hopfield neural networks;research and implementation of part-of-speech tagging based on hidden Markov model;intelligent referee system in robot-soccer games based on conditional event algebra;and context modeling and reasoning based on certainty factor.

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PACIIA 2009 - 2009 2nd Asia-Pacific conference on Computational Intelligence and Industrial Applications

PACIIA 2009 - 2009 2nd Asia-Pacific Conference on Computatio...

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2009 2nd Asia-Pacific conference on Computational Intelligence and Industrial Applications, PACIIA 2009

ISBN: (纸本)9781424446070

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A New Strategy of the robot Assembly Motion Planning

A New Strategy of the Robot Assembly Motion Planning

引用

2nd international conference Intelligent robotics and Applications

作者： Xia, Yanchun Yin, Yuehong Bai, Yuewei He, Yafei Shanghai Second Polytech Univ Sch Mech & Elect Engn New Area Shanghai 2360 Jinhai Rd Pudong Shanghai Peoples R China Shanghai Jiao Tong Univ Res Inst Robot Shanghai Peoples R China

ISBN: (纸本)9783642108167

A motion planning strategy, a dissymmetrical T-shaped peg into a C-shaped slot, is proposed based on medial axis diagram knowledge and force control technology. It is very important to understand the assembly environment in the process of the active assembly operation. The assembly environment can be understood based on the analysis of the geometrical and force conditions. The medial axis diagram is used to analyze the geometric constraint relations of the parts during the robot assembly, and by which, the whole process of the complex assembly operation can be planned. As a result, the robot can understand the almost environment information based on the planning knowledge. Due to the uncertainties in the assembly process, the force sensing and force control are executed for apperceiving the precise physical relations. Combining the medial axis diagram knowledge-based with force sensing and force control strategy, the assembly task of T-shaped peg into C-shaped slot can be completed high efficiently, and it can be used for references to the study of the robot assembly.

关键词： Coarse and fine motion planning Environment understanding Force control Medial axis diagram Contact constrain

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