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IEEE International Conference on Robotics and Biomimetics (ROBIO 2007)

作者： Cheng, Li Zhao, Yunfeng Zhao, Yongsheng Univ Yanshan Robot Res Ctr Qinhuangdao Hebei Peoples R China

ISBN: (纸本)9781424417612

A 5-Degree of Freedom (DOF) 5-UPS/PRPU fully parallel machine tool (PMT) was introduced. Based on the original edition of CNC system, the concise motion control algorithm was deduced by analyzing the identical feature between two Eider angles of 5-UPS/PRPU PMT and two swmig angles of conventional 5-axis cutter swing machine tool. Then by using the formula of the inverse kinematic solution of the PMT, the length of the driving aids in the joint space can be calculated. The new CNC system software based on this algorithm was developed and it has been applied successfully to the 5-DOF PMT in our laboratory.

关键词： 5-DOF parallel machine tool motion control algorithm

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A decoupling three-dimensional motion control algorithm for spherical underwater robot

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Biomimetic Intelligence & Robotics 2022年第3期2卷 50-58页

作者： Pengxiao Bao Yao Hu Liwei Shi Shuxiang Guo Zhengyu Li Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information TechnologySchool of Life ScienceBeijing Institute of TechnologyBeijing 100081China Faculty of Engineering Kagawa UniversityHayashi-choTakamatsu 2217-20Japan

Underwater spherical robots are good assistants for ocean exploration,where motion control algorithms play a vital *** motion control algorithms cannot eliminate the coupling relationship between various motion directions,which will cause the motion control of various directions to interfere with one other and significantly affect the control *** study proposes a new decoupling motion control algorithm based on the robot attitude calculation for an underwater spherical robot designed for offshore,shallow water,and narrow *** proposed method uses four fuzzy proportional-integral-derivative(PID)controllers to independently control the robot’s movement in all *** show that the motion control algorithm proposed in this study can significantly improve the flexibility and accuracy of the movement of underwater spherical robots.

关键词： motion control algorithm Decoupling control Spherical underwater robots Fuzzy PID

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The motion control algorithm based on quaternion rotation for a permanent magnet spherical stepper motor

The motion control algorithm based on quaternion rotation fo...

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CES/IEEE 5th International Power Electronics and motion control Conference

作者： Wang, Qun-jing Xia, Kun Hefei Univ Technol Sch Elect Engn & Automat Hefei Peoples R China

ISBN: (纸本)1424404487

This paper presented the motion control algorithm based on quaternion rotation for a permanent magnet spherical stepper motor (PMSSM) designed by Gregory S. Chirikjian and David Stein et al. The movement of the rotor was achieved by controlling the current states of the stator coils with relays. While one arbitrary point on the surface of the rotor was expected to move to another appointed one, combining one-step motion into a piecewise continuous trajectory was necessary. The paper provided a control algorithm about kinetic trajectory divided into sections. Thus each segment corresponded one arc and circled around one fixed axis individually, and the continuous movement of the rotor was feasible. The simulation of the motion control algorithm and the error analysis were then presented in the following.

关键词： permanent magnet spherical stepper motor quaternion motion control algorithm

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The motion control algorithm based on Quaternion Rotation for a Permanent Magnet Spherical Stepper Motor

The Motion Control Algorithm based on Quaternion Rotation fo...

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CES/IEEE 5th International Power Electronics and motion control Conference

作者： Qun-jing WANG, Kun XIA School of Electrical Engineering & Automation, Hefei University of Technology, Hefei, CHINA

关键词： permanent magnet spherical stepper motor quaternion motion control algorithm

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motion control of unmanned underwater vehicles via deep imitation reinforcement learning algorithm

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IET INTELLIGENT TRANSPORT SYSTEMS 2020年第7期14卷 764-774页

作者： Chu, Zhenzhong Sun, Bo Zhu, Daqi Zhang, Mingjun Luo, Chaomin Shanghai Maritime Univ Shanghai Engn Res Ctr Intelligent Maritime Search Shanghai 201306 Peoples R China Harbin Engn Univ Coll Mech & Elect Engn Harbin 150001 Peoples R China Mississippi State Univ Dept Elect & Comp Engn Mississippi State MS 39762 USA

In this study, a motion control algorithm based on deep imitation reinforcement learning is proposed for the unmanned underwater vehicles (UUVs). The algorithm is called imitation learning (IL) twin delay deep deterministic policy gradient (DDPG) (TD3). It combines IL with DDPG (TD3). In order to accelerate the training process of reinforcement learning, the supervised learning method is used in IL for behaviour cloning from the closed-loop control data. The deep reinforcement learning employs actor-critic architecture. The actor part executes the control strategy and the critic part evaluates current control strategy. The training efficiency of IL-TD3 is compared with DDPG and TD3. The simulation results show that the training results of IL-TD3 converge faster and the training process is more stable than both of them, the convergence rate of IL-TD3 algorithm during training is about double that of DDPG and TD3. The control performance via IL-TD3 is superior to PID in UUVs motion control tasks. The average track error of IL-TD3 is reduced by$70\percnt $70%than PID control. The average tracking error under thruster fault is almost the same as under normal condition.

关键词： neurocontrollers intelligent robots learning (artificial intelligence) three-term control closed loop systems motion control remotely operated vehicles gradient methods autonomous underwater vehicles control engineering computing training process IL-TD3 algorithm DDPG control performance PID control unmanned underwater vehiclesViadeep imitation reinforcement learning algorithm motion control algorithm deep imitation reinforcement learning unmanned underwater vehicles imitation learning twin deep deterministic policy gradient supervised learning method closed-loop control data deep reinforcement learning actor-critic architecture actor part critic part current control strategy UUV motion control tasks

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motion control of Passive Mobile Robot with Multiple Casters Based on Feasible Braking Force and Moment

Motion Control of Passive Mobile Robot with Multiple Casters...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Saida, Masao Hirata, Yasuhisa Kosuge, Kazuhiro Tohoku Univ Aoba Ku Sendai Miyagi 9808579 Japan

ISBN: (纸本)9781424466757

We introduce a passive mobile robot called C-PRP (Caster-type Passive Robot Porter). This robot consists of multiple casters with servo brakes and a controller. C-PRP employs passive dynamics with respect to the force applied by a human. Its appropriate motion is controlled using the servo brakes. In this paper, we derive and analyze a feasible braking force/moment that can be applied to the robot on the basis of the characteristics of the servo brakes. In addition, we propose a motion control algorithm for C-PRP based on the analysis of this feasible braking force/moment. This algorithm is independent of the number of casters. The proposed algorithm is applied to a four-wheeled C-PRP and the experimental results confirm its validity.

关键词： caster-type passive robot porter feasible braking force-moment four-wheeled C-PRP mobile robots motion control motion control algorithm multiple casters passive dynamics passive mobile robot robot dynamics servo brakes

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P-4.2: High-Precision Human Eye Simulation Device

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SID Symposium Digest of Technical Papers 2024年第S1期55卷 756-759页

作者： Guanghang Mei Xiaochen Zhou Shunli Zang Tao He Lei Zhao Yongjiang Laboratory Ningbo Zhejiang China Gravity XR Electronics and Technology Co. Ltd. Ningbo Zhejiang China

Simulation equipment designed to replicate human eye movement, encompassing saccades, gaze, and other nuances, proves invaluable in eye movement tests, serving as an effective substitute for human subjects. Functioning as a reliable value system, it excels in ensuring precision in measurements and facilitating systematic analysis. This article introduces the design of a human eye simulation device featuring a unique dual-axis motor structure. This design allows for the controlled rotation of the simulated eyeball without the need to move the entire device. Subsequently, a motion control algorithm is developed based on the coupling relationship of poses during dual-axis rotation, facilitating precise control of the line of sight angle. Finally, an objective comparison of test data between real human eyes and the simulated eye device is conducted, validating the efficacy of the latter.

关键词： Optical instruments Eye movement simulation motion control algorithm

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