In this paper, a shape tracking control problem for a hyper degrees of freedom manipulator is discussed. The objective of shape tracking is to control its shape, which is characterized by all the joints and the tip po...
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ISBN:
(纸本)0780336135
In this paper, a shape tracking control problem for a hyper degrees of freedom manipulator is discussed. The objective of shape tracking is to control its shape, which is characterized by all the joints and the tip positions, to follow a given time-varying curve. Crucial Ley to solve this problem is to introduce a 2nd-order estimator that infers the curve parameters corresponding to the target positions of the joints and the tip on the curve. The coupled dynamics of the manipulator and this estimator has the same properties as the manipulator dynamics which is useful for control design purposes. Therefore, familiar design methods for manipulator tracking can be utilized to solve the shape tracking problem. Examples are shown to illustrate how to find shape tracking laws by two famous methods, that is, the ID(inverse dynamics)-based and Lyapunov-based method.
Feedback control of a manipulator with a passive joint which has neither an actuator nor a holding brake is investigated. The manipulator has three degrees of freedom in a horizontal plane, with the third joint being ...
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ISBN:
(纸本)0780336135
Feedback control of a manipulator with a passive joint which has neither an actuator nor a holding brake is investigated. The manipulator has three degrees of freedom in a horizontal plane, with the third joint being passive. The dynamic constraint on the free link is 2nd-order nonholonomic. A trajectory for positioning is composed of simple translational and rotational trajectory segments. The trajectory segments are stabilized by nonlinear feedback, considering the motion of the center of percussion of the free link. Simulation results show the effectiveness of the feedback control.
The proceedings contain 27 papers. The special focus in this conference is on Vector and Parallel Processing. The topics include: High performance computing in power system applications;scan-directional architectures;...
ISBN:
(纸本)3540628282
The proceedings contain 27 papers. The special focus in this conference is on Vector and Parallel Processing. The topics include: High performance computing in power system applications;scan-directional architectures;markov chain based management of large scale distributed computations of earthen dam leakages;control and data flow analysis for parallel program debugging;a vector processor for the efficient estimation of higher-order moments;the use of computational kernels in full and sparse linear solvers, efficient code design on high-performance RISC processors;parallel implementation of a symmetric eigensolver based on the Yau and Lu method;preconditioned conjugate gradient methods for semiconductor device simulation on a CRAY C90 vector processor;a parallel implementation of the general lanczos method on the cray T3D;parallel and distributed computations in a parameter inverse problem;automated optimal design using CFD and high performance computing;parallelization of the discrete-ordinates method;experiences with advanced CFD algorithms on NEC SX-4;parallelization of a CFD code using PVM and domain decomposition techniques;possibilities of parallel computing in the finite element analysis of industrial forming processes;preconditioners for nonsymmetric linear systems in domain decomposition applied to a coupled discretization of navler-stokes equations;parallel implementation of non-recurrent neural networks;parallel computing of fragment vector in steiner triple systems;stabilizing large control linear systems on multicomputers;an interface based on transputers to simulate the dynamic equation of robot manipulators using parallel computing and large scale traffic simulations.
Position control of a manipulator with a passive joint which has neither an actuator nor a holding brake is investigated. The manipulator has three degrees of freedom in a horizontal plane, with the third joint being ...
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ISBN:
(纸本)078033213X
Position control of a manipulator with a passive joint which has neither an actuator nor a holding brake is investigated. The manipulator has three degrees of freedom in a horizontal plane, with the third joint being passive. The dynamic constraint on the free link is 2nd-order nonholonomic. Trajectories from initial configurations to desired configurations are planned by combining simple translational and rotational trajectory segments, considering motion of the center of impact of the free link. This planning method is very fast because it requires no iteration. Feedback control using the passive joint angle is applied. Experimental results of positioning are presented.
This paper describes a non contact measurement technique for the transverse vibration of small cables and strings, using an analog position sensing detector. The sensor is used to monitor the cable vibrations of a sma...
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ISBN:
(纸本)0819422649
This paper describes a non contact measurement technique for the transverse vibration of small cables and strings, using an analog position sensing detector. The sensor is used to monitor the cable vibrations of a small scale mock-up of a cable structure and to evaluate the performance of an active tendon control algorithm.
In this paper we propose a real-time architecture for autonomous mobile robots. We describe the single components of the architecture that are responsible of data acquisition and representation navigation and obstacle...
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In this paper we propose a real-time architecture for autonomous mobile robots. We describe the single components of the architecture that are responsible of data acquisition and representation navigation and obstacle avoidance. In particular we focus on the integration of the components in the architecture and on the mechanisms that allow the system to operate in real time. Some experimental results are illustrated.
In order to design and implement practical intelligent mobile robots, configurational design is fundamental and crucial. The paper firstly focuses on the problem to select the optimal shape of an intelligent mobile ro...
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In order to design and implement practical intelligent mobile robots, configurational design is fundamental and crucial. The paper firstly focuses on the problem to select the optimal shape of an intelligent mobile robot when the application of the robot is specified, and it is pointed out that there are three basic shapes, i.e. (1) infinite rotational device such as wheels and crawler track, (2) legs, and (3) an articulated body. The author's manufactured robots are classified among these or the combination of them. The control problems of these robots are also discussed.
This paper proposes an evolutionary design of a neural network architecture, with a one-dimensional linked list encoding scheme. In this scheme, neurons are arranged in a one-dimensional array, and the order informati...
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ISBN:
(纸本)0780327756
This paper proposes an evolutionary design of a neural network architecture, with a one-dimensional linked list encoding scheme. In this scheme, neurons are arranged in a one-dimensional array, and the order informations of neurons play important roles in genetic operation. Due to one-dimensional structure, encoding from neural network architecture to genotype becomes easy, and genetic operation can be easily applied. To avoid the permutation problem, we choose evolutionary programming (EP) rather than a genetic algorithm (GA), i.e., we apply mutation operators only in order to generate offspring. The proposed scheme is applied to a 2-link robot manipulator to control the position of the end effector. Satisfactory simulation results with simple neural network architecture are shown to validate the proposed algorithm.
This paper proposes an evolutionary design of a neural network architecture, with a one-dimensional linked list encoding scheme. In this scheme, neurons are arranged in one-dimensional array, and the order information...
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This paper proposes an evolutionary design of a neural network architecture, with a one-dimensional linked list encoding scheme. In this scheme, neurons are arranged in one-dimensional array, and the order informations of neurons play important roles in genetic operation. Due to one-dimensional structure, encoding from neural network architecture to genotype becomes easy, and genetic operation can be easily applied. To avoid permutation problem, we choose evolutionary programming (EP) rather than genetic algorithm (GA), i.e., we apply mutation operators only in order to generate offspring. The proposed scheme is applied to 2-link robot manipulator to control the position of end effector. Satisfactory simulation results with simple neural network architecture are shown to validate the proposed algorithm.
controllability of a manipulator with a passive joint which has neither an actuator nor a holding brake is investigated. The manipulator has 3 degrees of freedom in a horizontal plane and the third joint is passive. T...
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controllability of a manipulator with a passive joint which has neither an actuator nor a holding brake is investigated. The manipulator has 3 degrees of freedom in a horizontal plane and the third joint is passive. The dynamic constraint on the third link is 2nd-order nonholonomic. The controllability is proved by constructing examples of the input trajectories from arbitrary initial slates to arbitrary desired slates. The proof is intuitively understandable, and the construction of the input directly leads to the trajectory planning. Simulations show that the manipulator can reach the desired position and velocity by the constructed input.
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