A variable gain sliding mode control algorithm is proposed for a space robot to track the path aimed at capturing a target. First, the dynamic model of the space robot is constructed based on the Lagrangian method, an...
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ISBN:
(纸本)9781450390200
A variable gain sliding mode control algorithm is proposed for a space robot to track the path aimed at capturing a target. First, the dynamic model of the space robot is constructed based on the Lagrangian method, and the dynamic equation when the system parameters are uncertain is given. A sliding mode controller which introduces a variable gain is developed. The gain can adapt to the uncertainty of the system and its motion thereby facilitating the controller to be robust. Further, taking the motion error as the objective function, the gain of the sliding surface is optimized by adopting the modified gaussian barebones differential evolution method. Then the trajectory tracking simulation experiment of the space robot is carried out by adopting the modified gaussian barebones differential evolution method. In addition, the controller is demonstrated to present high control accuracy and the controller with optimization has smaller tracking error.
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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Due to the omnidirectional mobile robot's maneuverability, stability and its relatively simple control, it is used in wide range of applications. The aim of this paper is to develop a sliding mode controller that ...
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Aiming at the low efficiency and low manufacturing flexibility of filament winding machine, a control system based on robot that controls the motion trajectory of silking mouth for elbow pipe winding is proposed in th...
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ISBN:
(纸本)9781479913909
Aiming at the low efficiency and low manufacturing flexibility of filament winding machine, a control system based on robot that controls the motion trajectory of silking mouth for elbow pipe winding is proposed in this paper. The traditional method of elbow pipe winding is either manual operation or semi-automated, whose efficiency and accuracy are low. Filament winding machine based on robot has many advantages, such as flexibility, multiple degrees of freedom, and wide range of process. This paper presents overall design and hardware selection of the control system, and introduces the stable path of elbow and trajectory planning for the robot.
In this paper, a large manned hexapod robot is a research object which is based on the ARM core processor Vx Works real-time multi-tasking operating system and the manipulation of the robotcontrol system's resear...
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ISBN:
(纸本)9781479913909
In this paper, a large manned hexapod robot is a research object which is based on the ARM core processor Vx Works real-time multi-tasking operating system and the manipulation of the robotcontrol system's researches and designs. We use the CAN bus and RS485 bus communication interface that designed with high-performance remote data acquisition andcontrol systems. The UcGUI is based on the embedded graphics support system that develops control system interface display. Test results showed that: the control system is capable of a 50ms period to collect real-time manipulation commands transmitting to the underlying control systems and can be completed in the next cycle underlying control system feedback data processing and display, which is fully able to meet the six foot robotcontrol and status information monitoring.
The aim of this research is to build an autonomous robot by integrating hardware components such as PIC microcontroller, APR voice module, RSSI module, ultrasonic sensors, GSM module, and DC motor. The proposed robot ...
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This paper designs a hybrid power supply composed of supercapacitors and a power battery in consideration of their characters for the reason that the power battery cannot provide sufficient current for the rescue robo...
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This paper presents a design of a housekeeping robot that can automatically navigate in a room while both vacuum cleaning floors and picking up garbage. First, the background and history of housekeeping robots are sum...
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A hybrid algorithm based on the Artificial Potential Field and Bug algorithm (APF-B) is developed in this paper. It is applied to the path-planning problem of mobile robot. The potential field function is modified to ...
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ISBN:
(纸本)9781479913909
A hybrid algorithm based on the Artificial Potential Field and Bug algorithm (APF-B) is developed in this paper. It is applied to the path-planning problem of mobile robot. The potential field function is modified to deal with the GNRON (Goal Non Reachable with Obstacle Nearby) problem. A BUG algorithm is introduced into the Artificial Potential Field to escape from the local minima. The convergence of this hybrid algorithm is verified. Finally, the simulated experiments show the validity of this approach.
Aiming at the difficulty of robot trajectory planning algorithm and the impact and vibration of motion process, a method of trajectory planning under ROS system is proposed by studying the mainstream operating system ...
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ISBN:
(纸本)9781728141923
Aiming at the difficulty of robot trajectory planning algorithm and the impact and vibration of motion process, a method of trajectory planning under ROS system is proposed by studying the mainstream operating system ROS (robot Operating System). First, a robot model is built in ROS, which is planned in Cartesian motion space and joint space respectively. Then, the optimization curve of joint speed, acceleration and jerk obtained by the optimized S-shaped trajectory planning algorithm in matlab ensures the rapid and stable motion of the robot. Finally, the Python language was written to simulate the robot in Rviz. The simulation results and the joint angle graph showed smooth and no impact, indicating the effectiveness of the method.
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