robotics and haptic systems have allowed new and diverse applications in the field of medicine, such as assisted surgery and teleoperation which have increasingly stringent requirements for accuracy, convergence, and ...
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ISBN:
(纸本)9798350393972;9798350393965
robotics and haptic systems have allowed new and diverse applications in the field of medicine, such as assisted surgery and teleoperation which have increasingly stringent requirements for accuracy, convergence, and low computational consumption. In this paper an adaptive PID control law (Proportional Integral Derivative controller, PID), of indirect architecture is presented for movement paths in a haptic system of open chain, where the identification of the plant is through a quaternionic wavelet neural network (Quaternion Wavelet Neural Network, QWNN) for tune the PID values, this allows the optimal movement into the regions of the workspace.
robots working in the human environment have been researched in the field of motioncontrol. For the next-generation robot, human and robot interaction technologies are needed. In particular, learning and displaying o...
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robots working in the human environment have been researched in the field of motioncontrol. For the next-generation robot, human and robot interaction technologies are needed. In particular, learning and displaying of human haptic motion are important. Therefore, the authors have proposed a method for abstracting haptic motion and designed a haptic motion display system. The motion abstraction method divides a measured motion to each action from the point of force and position. Then, action modes have been defined for expressing each divided action. Action modes are expressing force directionality or position directionality. By utilizing the proposed motion abstraction method, various kinds of human motion are abstracted as action modes. The designed haptic motion display system is trying to show these various kinds of human motion. This paper defines human action modes and environmental action modes from action modes. Human action modes are expressing human action force directionality, while environmental action modes are expressing environmental position response directionality. Furthermore, the haptic motion display system is redesigned. This system is redesigned based on human action modes and environmental action modes. The validity of the proposed method is confirmed by the experimental results.
This paper proposes a prediction method considering object motion for a humanoid robot with a visual sensor. A visual servo control method is one of the useful methods to control the robot based on visual information....
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ISBN:
(纸本)9781479923243
This paper proposes a prediction method considering object motion for a humanoid robot with a visual sensor. A visual servo control method is one of the useful methods to control the robot based on visual information. robot can track the movable object by using this method. However, this system does not consider the future response of the object motion. As a result, the delay arises. In order to solve this problem, it is necessary to predict the object motion from the visual information. This paper proposes the prediction method considering object motion based on visual servo system. By using this method, the robot predicts the goal position which is the stop position of the movable object. Thereafter, the robot walks to the above prediction position. The robot moves to goal position without useless trajectory. The experiments with this prediction control method are conducted to confirm the validity of the proposed method. From these results, the validity of the proposed method is confirmed.
The researches on mobile robot involve many directions, the basis of which is the motioncontrol. By analyzing the kinematics simulation of mobile robot, this paper demonstrates the feasibility of Iyapunov direct meth...
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ISBN:
(纸本)9781479945658
The researches on mobile robot involve many directions, the basis of which is the motioncontrol. By analyzing the kinematics simulation of mobile robot, this paper demonstrates the feasibility of Iyapunov direct method techniques using in mobile robotmotioncontrol with the experimental subject of pionieer3DX wheeled mobile robot. And this experiment proves that this method not only can increase the adjustment ability of controller, but also can simplify the design of controller to some extent.
The work describes a heuristic control strategy comprising reactive obstacle avoidance for omni-directional planar robot. The proposed method is based on artificial potential fields. Appropriate reshaping of repelling...
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ISBN:
(纸本)9781538639269
The work describes a heuristic control strategy comprising reactive obstacle avoidance for omni-directional planar robot. The proposed method is based on artificial potential fields. Appropriate reshaping of repelling potential fields incorporating warping vectors and warping functions reduces the problem of local minima. Moreover, a solution to saddle point avoidance based on potential hessian is proposed. Numerical tests are conducted to indicate the validity and efficiency of the method. The strategy applies only to circular non-overlapping obstacles.
This paper addresses the stabilization task of the inverted pendulum on a cart, which is a classical example of unstable control system. We used partial linearization to bring the system into a normal form for which w...
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ISBN:
(纸本)9798350393972;9798350393965
This paper addresses the stabilization task of the inverted pendulum on a cart, which is a classical example of unstable control system. We used partial linearization to bring the system into a normal form for which we propose a oneswing stabilizer. Then, through a parametric identification of a laboratory test-bed we acquired a reliable model that served us to prepare experiments. Experimental results and simulations confirmed the realistic performance of the proposed controller in stabilizing the system at the unstable equilibrium point with only one swing of the pendulum.
Following paper present a description of a non-holonomic mobile manipulator relative to three-dimensional path. Path has been orthogonally parametrized to the Serret-Frenet frame moving along the curve. control law fo...
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ISBN:
(纸本)9781728129754
Following paper present a description of a non-holonomic mobile manipulator relative to three-dimensional path. Path has been orthogonally parametrized to the Serret-Frenet frame moving along the curve. control law for the RTR manipulator with fixed first joint, mounted on the unicycle platform, which realizes the path following has been presented. Mathematical solutions has been justified in simulation results.
We shall study non-holonomic robotic systems represented by either a driftless or a control affine control system with outputs. Two types of singularities are considered: the posture singularities around which the gro...
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ISBN:
(纸本)9781538639269
We shall study non-holonomic robotic systems represented by either a driftless or a control affine control system with outputs. Two types of singularities are considered: the posture singularities around which the growth vector of the system's distribution is non-constant, and the configuration singularities at which the system's Jacobian is not surjective, related with the singular optimal controls. Using some recent results of sub-Riemannian geometry we provide computational tools for the determination of the configuration singularities. Theoretical arguments are supported by examples of the kinematics of the ball rolling with spinning, and the front wheel driven car with dynamics.
This paper deals with the problem of precise positioning of an optical instrument using a two-axis astronomical mount to facilitate laser communication. The aim is to maximize the intensity of laser signal detected by...
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ISBN:
(纸本)9798350393972;9798350393965
This paper deals with the problem of precise positioning of an optical instrument using a two-axis astronomical mount to facilitate laser communication. The aim is to maximize the intensity of laser signal detected by a receiver. To address this, a closed-loop control algorithm based on the gradient approximation in the configuration space of the manipulator is proposed. Laboratory scaled experiments demonstrate that the considered method makes it possible to achieve the required quality of positioning the transmitter and receiver and can be used to maintain a high value of signal-to-noise ratio in communication tasks.
The aim of this work is to investigate and analyze the performance of ROS-based navigation local planners in a simulated environment and on a real research platform the TurtleBot 3 mobile robot. Three planners were su...
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ISBN:
(纸本)9781728129754
The aim of this work is to investigate and analyze the performance of ROS-based navigation local planners in a simulated environment and on a real research platform the TurtleBot 3 mobile robot. Three planners were subject to the study: DWA, EBand and TEB;the accuracy and repeatability were measured for position and orientation of the robot, as well as time of travel. Tests were based on continuous movements between three waypoints placed in a confined space, in both static and dynamic environments. The motion capture system based on AR tags was used in the real world. The obtained results do not indicate a specific comparison winner. All tested planners in most cases met their requirements.
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