检索结果-内蒙古大学图书馆

Mediterranean Conference on control and Automation (MED)

作者： Hao Ding Mingxiang Zhou Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Kassel Germany Institute of Automatic Control Engineering Technische Universität München Munich Germany

The task of motion planning for robotic manipulators means to drive an end-effector between designated points in the work area while obstacles are not hit. This contribution investigates the case of dynamic obstacles (like human operators) and the consideration of a performance criterion to be maximized for the motion. The proposed approach maps the dynamics of the manipulator and the obstacles into the C times T-space (spanned by the configuration C and the time T). Within this space, an (sub-)optimal sequence of configurations in the collision-free subspace is determined by mixed-integer linear programming. To achieve sufficient computational efficiency, the optimization task is approached by employing the principles of model predictive control. The paper describes the approach based on the example of a two-link robot interacting with a human operator.

关键词： Manipulator dynamics Motion planning Robots Dynamic programming Linear programming Orbital robotics Path planning Robotics and automation Trajectory automatic control

来源：评论

学校读者我要写书评

暂无评论

Design of new modular walking robot MERO

引用

11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008

作者： Ion, Ion Simionescu, Ion Curaj, Adrian Luige, Vladareanu Vasile, Aurelian Technology of Manufacturing Department POLITEHNICA University Bucharest Romania Mechanism and Robot Theory Department POLITEHNICA University Bucharest Romania Automatic Control and System Engineering Department POLITEHNICA University Bucharest Romania Institute of Solid Mechanics Romanian Academy Romania

ISBN: (纸本)9812835768

The walking robots are built to displace the loads on the not-aligned terrain. The modular walking system protect much better the environment when its contact with the soil is discrete, a fact that limits appreciately the area that is crushed. At the Polytechnic University of Bucharest has been new developed a walking modular robot to handle farming tools. This walking robot has three twolegged modules. Every leg has three freedom degrees (RRT) and a tactile sensor to measure the contact, which consists of lower and upper levels. The body of the MERO (MEchanism RObot) walking robot carries a gyroscopic bearing sensor to measure the pitch and roll angles of the platform. The legs are powered by hydraulic or electric drives and are equipped with transducers and sensors. They are used to control the walking robot in the adaptability to a natural ground. A vehicle like that is Romanian Walking Robot MERO (Fig. 1).

关键词： Machine design

来源：评论

学校读者我要写书评

暂无评论

Nonlinear control of a variable displacement axial piston pump

引用

PAMM 2007年第1期6卷

作者： Franz Fuchshumer Andreas Kugi Chair of System Theory and Automatic Control Saarland University 66123 Saarbrücken Germany

In this contribution a mathematical model of a variable displacement axial piston pump controlled by a solenoid valve is derived. For the purpose of a controller design the mathematical model is simplified using singular perturbation arguments. The goal of the controller design is to track prescribed trajectories in the load pressure for arbitrary unknown load conditions. The control concept being proposed comprises a feedforward controller and a nonlinear backstepping controller combined with a load estimator for the trajectory error system. The feasibility of this control concept is shown by means of measurements on a test-stand. (© 2006 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

关键词：

来源：评论

学校读者我要写书评

暂无评论

Trajectory Planning and Feedforward control Design for the Temperature Distribution in a Cuboid

引用

PAMM 2007年第1期6卷

作者： Thomas Meurer Andreas Kugi Chair of System Theory and Automatic Control Saarland University P.O. box 151150 66041 Saarbrücken Germany

The design of a feedforward tracking controller is considered for the temperature distribution in a cuboid, where the temperature on a single lateral surface can be arbitrarily prescribed by a control input. It is shown that there exists a so–called flat or basic output, which allows to explicitly derive the inverse infinite–dimensional system representation suitable for trajectory planning and for the determination of the respective control input necessary to track the desired trajectory in open–loop. (© 2006 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

关键词：

来源：评论

学校读者我要写书评

暂无评论

Inversion-based transient shaping of a piezo-actuated plate: Motion planning and feedforward control

Inversion-based transient shaping of a piezo-actuated plate:...

引用

作者： Meurer, Thomas Kugi, Andreas Department of System Theory and Automatic Control Saarland University P.O.box 151150 66041 Saarbrücken Germany

ISBN: (纸本)9783902661173

This paper introduces a structural tracking control problem for a rectangular thin plate with piezo-actuation. It is desired to dynamically shape the plate deflection in order to create a transient bulge, whose global minimum follows a prescribed path, e.g. a circle or rectangle. Therefore, motion-planning and feedforward tracking control is determined by combining results from differential flatness and optimal actuator placement to suppress spillover effects. The tracking performance of the proposed control approach is illustrated in a simulation scenario.

关键词： Motion planning

来源：评论

学校读者我要写书评

暂无评论

Design, mathematical modeling and control of an asymmetrical electrorheological damper

Design, mathematical modeling and control of an asymmetrical...

引用

作者： Holzmann, Klaus Kemmetmüller, Wolfgang Kugi, Andreas Stork, Michael Department of System Theory and Automatic Control Saarland University PO Box 15 11 50 66041 Saarbrücken Germany Fludicon GmbH Landwehrstrasse 50 64293 Darmstadt Germany

ISBN: (纸本)9783902661173

This paper is concerned with the design, the mathematical modeling and the control of an electrorheological (ER) damper for automotive applications. A continuous variation and the desired asymmetrical behavior of the damping characteristics is achieved by an intelligent combination of an ER valve with a laminar damping orifice and check valves. The resulting construction is distinguished by a very compact design and its fail-safe characteristics in the case of a fault of the high-voltage amplifier. Furthermore, some design considerations for the ER damper are given. Based on a detailed mathematical model a nonlinear control strategy is developed. Finally, the feasibility and the usefulness of the proposed construction and the nonlinear control strategy is demonstrated by means of simulation studies.

关键词： Electrorheological fluids

来源：评论

学校读者我要写书评

暂无评论

Feedforward control design under input constraints for a tubular reactor model

Feedforward control design under input constraints for a tub...

引用

IEEE Conference on Decision and control

作者： Peter Wieland Thomas Meurer Knut Graichen Michael Zeitz Institute for Systems Theory and Automatic Control University of Stuttgart Germany Chair of System Theory and Automatic Control University of Saarland Saarbrucken Germany Institute for System Dynamics University of Stuttgart Germany

ISBN: (纸本)1424401704

This paper presents a new early-lumping approach of feedforward control design for setpoint change scenarios applied to a tubular reactor modeled by a nonlinear parabolic diffusion-convection-reaction equation. The approach is based on Galerkin's method to obtain a finite-dimensional model and on a recently developed approach to feedforward control design for nonlinear systems under input constraints. The considered finite-time transition between equilibrium points is treated as a two-point boundary value problem. Simulation results for different sets of model parameters illustrate the applicability of the approach

关键词： control design Inductors Moment methods Nonlinear equations Nonlinear dynamical systems Nonlinear systems Differential equations Partial differential equations Force control Trajectory

来源：评论

学校读者我要写书评

暂无评论

INVERSION–BASED TRANSIENT SHAPING OF A PIEZO–ACTUATED PLATE: MOTION PLANNING AND FEEDFORWARD control

引用

IFAC Proceedings Volumes 2006年第16期39卷 169-174页

作者： Thomas Meurer Andreas Kugi of System Theory and Automatic Control Saarland University P.O.box 151150 66041 Saarbrücken Germany

This paper introduces a structural tracking control problem for a rectangular thin plate with piezo–actuation. It is desired to dynamically shape the plate deflection in order to create a transient bulge, whose global minimum follows a prescribed path, e.g. a circle or rectangle. Therefore, motion–planning and feedforward tracking control is determined by combining results from differential flatness and optimal actuator placement to suppress spillover effects. The tracking performance of the proposed control approach is illustrated in a simulation scenario.

关键词： Feedforward tracking control motion planning Kirchhoff plate piezo–actuation transient shape control actuator placement

来源：评论

学校读者我要写书评

暂无评论

Flatness-based feedforward control design for flexible structures

Flatness-based feedforward control design for flexible struc...

引用

IEEE International Conference on Computer-Aided Design

作者： Jens Becker Thomas Meurer Lothar Gaul The Institute of Applied and Experimental Mechanics University of Stuttgart Stuttgart Germany The Chair of System Theory and Automatic Control University of Saarland Saarbrucken Germany

This contribution presents a solution to the feedforward tracking control problem for flexible beam structures. The design methodology is based on the modal analysis of the structural dynamics to determine an inverse system representation by parameterizing modal states and system input in terms of a parameterizing function and its time-derivatives. Convergence of the resulting parameterizations is thereby directly related to the problem of motion planning. In addition, the analytical feedforward control design approach is adapted to incorporate finite-element methods, which makes this approach especially suitable for the control of structures with complex geometry, boundary conditions or spatially varying material properties. Simulation results for a clamped-free Timoshenko beam with piezoelectric actuation are presented, where it is desired to drive the beam tip from zero deflection to a given desired stationary deflection within a finite-time interval

关键词： control design Flexible structures control systems Trajectory Modal analysis Boundary conditions Finite element methods Design methodology Geometry Material properties

来源：评论

学校读者我要写书评

暂无评论

DESIGN, MATHEMATICAL MODELING AND control OF AN ASYMMETRICAL ELECTRORHEOLOGICAL DAMPER

引用

IFAC Proceedings Volumes 2006年第16期39卷 372-377页

作者： Klaus Holzmann Wolfgang Kemmetmüller Andreas Kugi Michael Stork Chair of System Theory and Automatic Control Saarland University PO Box 15 11 50 66041 Saarbrücken Germany Fludicon GmbH Landwehrstrasse 50 64293 Darmstadt Germany

关键词： semi-active suspension electrorheological fluid electrorheological damper nonlinear control

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：