检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and Automation (ICRA)

作者： Jonghoon Park Wan Kyun Chung Robotics and Bio-Mechatronics RNB Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

ISBN: (纸本)0780365763

One of recent achievements in the field of nonlinear /spl Hscr//sub /spl infin// optimal control theories for Euler-Lagrange systems is the analytic solution to the Hamilton-Jacobi-Isaacs (HJI) equation associated to the so-called nonlinear /spl Hscr//sub /spl infin// inverse-optimal control. In this paper, we address the problem of nonlinear /spl Hscr//sub /spl infin// optimal control design for an Euler-Lagrange system, rather than the inverse-optimal problem. By introducing a technique of control weight loosening and state weight strengthening, we show that the associated HJI inequality, not the equation, for nonlinear /spl Hscr//sub /spl infin// optimal control can be solved also analytically using the inverse-optimal solution.

关键词： Optimal control Nonlinear equations Nonlinear control systems Control systems Cost function Robustness Robust control Control design Attenuation Robots

来源：评论

学校读者我要写书评

暂无评论

Multiple tasks kinematics using weighted pseudo-inverse for kinematically redundant manipulators

Multiple tasks kinematics using weighted pseudo-inverse for ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Jonghoon Park Youngjin Choi Wan Kyun Chung Youngil Youm Robotics and Bio-Mechatronics RNB Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

ISBN: (纸本)0780365763

This paper proposes a method to accommodate multiple tasks for redundancy utilization, which is based on a specific weighted pseudo-inverse. The proposed method also has task priority imposition property same as those conventional task priority based methods. In order to deal with general situations of task specification, the so-called semi-definitely weighted pseudo-inverse is devised.

关键词： Jacobian matrices Manipulator dynamics Matrix decomposition Robot kinematics biomechatronics mechanical engineering Error correction Inspection Weight control

来源：评论

学校读者我要写书评

暂无评论

Proper filter design procedure for vibration suppression using delay-error-order curves

Proper filter design procedure for vibration suppression usi...

引用

2001 ASME International mechanical engineering Congress and Exposition

作者： Economou, D. Mavroidis, C. Antoniadis, I. Natl. Technical University of Athens Department of Mechanical Engineering Mechanical Design Division 9 Heroon Polytechniou Str. 15773 Athens Greece Robotics and Mechatronics Laboratory Rutgers University State University of New Jersey 98 Brett Rd. Piscataway NJ 08854-8058 United States

Vibration suppression can be performed by digital filtering the input to the flexible system. Traditional digital filters have been proved to be efficient for vibration suppression, when they are properly designed, In order to ensure the proper filter design, the Delay-Error-Order (DEO) curves are introduced, to be used as a filter design tool. Based on the DEO curves, the vibration suppression properties and capabilities of the filter can be related with the design parameters involved in the traditional filter design methods. Using the DEO curves, the filters designed by means of conventional design methods posses excellent vibration suppression capabilities. This design procedure is presented in detail in this paper and an example of the application of the method is included.

关键词： Digital filters

来源：评论

学校读者我要写书评

暂无评论

Analysis of frictional forces in indeterminate enveloping grasps

Analysis of frictional forces in indeterminate enveloping gr...

引用

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of robotics in the the Next Millennium (Cat. No.01CH37180)

作者： Jonghoon Park K. Harada M. Kaneko Robotics & Bio-Mehcatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Faculty of Engineering Hiroshima University Higashihiroshima Japan

The problem due to the statically indeterminate contact forces arising in indeterminate frictional enveloping grasps is addressed. First, we show that the statical model for the contact forces is incomplete in the sense that the mathematical frictional forces may have an infeasible component. To resolve this infeasibility, we directly derive the enveloping grasp infeasibility condition on the frictional forces based on the coordinate transformation developed for frictional enveloping grasps. Then the indeterminate grasp can be analyzed in cooperation with the enveloping grasp feasibility inequality, as shown in a numerical example.

关键词： Robot kinematics Humanoid robots Legged locomotion Robustness Friction mechanical engineering Mathematical model Grasping Force control Torque

来源：评论

学校读者我要写书评

暂无评论

Achievability for telerobotic systems

引用

AIP Conference Proceedings 2001年第1期552卷 52-57页

作者： Reid L. Kress John V. Draper William R. Hamel 1Mechanical and Aerospace Engineering and Engineering Science Department The University of Tennessee Knoxville Tennessee 2Robotics & Process Systems Division Oak Ridge National Laboratory Oak Ridge Tennessee

Methods are needed to improve the capabilities of autonomous robots to perform tasks that are difficult for contemporary robots, and to identify those tasks that robots cannot perform. Additionally, in the realm of remote handling, methods are needed to assess which tasks and/or subtasks are candidates for automation. We are developing a new approach to understanding the capability of autonomous robotic systems. This approach uses formalized methods for determining the achievability of tasks for robots, that is, the likelihood that an autonomous robot or telerobot can successfully complete a particular task. Any autonomous system may be represented in achievability space by the volume describing that system’s capabilities within the 3-axis space delineated by perception, cognition, and action. This volume may be thought of as a probability density with achievability decreasing as the distance from the centroid of the volume increases. Similarly, any task may be represented within achievability space. However, as tasks have more finite requirements for perception, cognition, and action, each may be represented as a point (or, more accurately, as a small sphere) within achievability space. Analysis of achievability can serve to identify, a priori, the survivability of robotic systems and the likelihood of mission success; it can be used to plan a mission or portions of a mission; it can be used to modify a mission plan to accommodate unpredicted occurrences; it can also serve to identify needs for modifications to robotic systems or tasks to improve achievability.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Experimental demonstration of input preconditioning for residual vibration suppression using low-pass FIR digital filters

Experimental demonstration of input preconditioning for resi...

引用

American Control Conference (ACC)

作者： D. Economou C. Lee C. Mavroidis I. Antoniadis Mechanical Design and Control Systems Division Department of Mechanical Engineering National and Technical University of Athens Greece Robotics and Mechatronics Laboratory Department of Mechanical and AeroSpace Engineering State University of New Jersey Rutgers Piscataway NJ USA

A method for suppressing residual vibrations in flexible systems is presented and experimentally demonstrated. The proposed method is based on the preconditioning of the inputs to the system using conventional low-pass FIR digital filters. Several classes of FIR filters such as: a) Parks-McClellan; b) window-based method (using Chebyshev window); and c) constrained least squares method, are shown to demonstrate excellent vibration suppression when they are properly designed while they introduce minimum possible delay. In order to ensure maximally robust behavior, the filter stop band is selected to cover all possible variations of the system dynamic parameters. The proposed method does not require modeling of the flexible system, can be used in a variety of systems exhibiting vibrations, is independent of the guidance function, is simple to implement in practical applications and robust to variations of the system dynamic parameters. The method is experimentally verified using a flexible aluminum beam attached at the end-effector of a robot manipulator. The beam is rotated, using one joint of the manipulator, from an initial to a final position. During this motion, vibrations of the beam are excited due to inertial forces. It is shown that the preconditioned inputs to the flexible system induce very little amount of residual vibrations compared to the inputs with no preconditioning.

关键词： Finite impulse response filter Robustness Digital filters Delay Control systems mechanical engineering Vibration control Manipulator dynamics Convolution Aerodynamics

来源：评论

学校读者我要写书评

暂无评论

Experiments on robust vibration suppression in mechatronic systems using IIR digital filters

Experiments on robust vibration suppression in mechatronic s...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： D. Economou C. Mavroidis I. Antoniadis Meohanical Design and Control Systems Division Departmeat of Mechanical Engineering National and Technical University of Athens Athens Greece Robotics and Mechatronics Laboratory Department of Mechanical and Aerospace Engineering State University of New Jersey Rutgers Piscataway NJ USA

ISBN: (纸本)0780367367

In this paper, a method for suppressing residual vibrations in flexible mechatronic systems is proposed and experimentally demonstrated. The proposed method is based on the preconditioning of the arbitrary inputs to the system using infinite impulse response (IIR) digital filters. To ensure robust behavior, the filter stop band is selected to cover all possible variations of the system dynamic parameters. It is shown that some of the IIR filters are capable of suppressing vibrations when they are properly designed.

关键词： Robustness Mechatronics Digital filters IIR filters Vibrations Finite impulse response filter Control systems Cranes Convolution mechanical engineering

来源：评论

学校读者我要写书评

暂无评论

Fuzzy logic control of a robot manipulator based on visual servoing

Fuzzy logic control of a robot manipulator based on visual s...

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： C.S. Kim W.H. Seo S.H. Han O. Khatib Department of Mechanical Design Graduate School of Kyungnam University Masan South Korea Division of Mechanical Engineering and Automation Kyungnam University Masan South Korea Computer Science and Robotics Laboratory Department University of Stanford Stanford CA USA

ISBN: (纸本)0780370902

In this paper, a solution to a manipulation control problem (target identification and grasping) using a real platform in combination with a vision system is proposed. The task for the end-effector is to approach a randomly placed spherical object of known size. The control law is approximated by using an approach based on fuzzy logic. The controller determines the parameters of the target (a spherical object acquired from the vision system mounted on the manipulator) using a vision algorithm. The fuzzy rules are built in a supervised way, after studying the behavior of the system. Experimental results obtained using an industrial manipulator (AM1 with 6 DOF model in Samsung Electronics Co., Ltd., Korea) are presented.

关键词： Fuzzy logic Robot control Manipulators Visual servoing Control systems Machine vision Fuzzy systems Electrical equipment industry Electronics industry Industrial electronics

来源：评论

学校读者我要写书评

暂无评论

Towards the standardization of a MATLAB-based control systems laboratory experience for undergraduate students

Towards the standardization of a MATLAB-based control system...

引用

American Control Conference (ACC)

作者： W.E. Dixon D.M. Dawson B.T. Costic M.S. de Queiroz Robotics and Process Systems Division Oak Ridge National Laboratory USA Department of Electrical and Computer Engineering Clemson University Clemson SC USA Department of Mechanical Engineering Lousiana State University Baton Rouge LA USA

The paper seeks to begin a discussion with regard to developing standardized computer aided control system design (CACSD) tools that are typically utilized in an undergraduate controls laboratory. The advocated CACSD design tools are based on the popular, commercially available MATLAB environment, the Simulink toolbox, and the Real-Time Workshop toolbox. The primary advantages of the proposed approach are as follows: 1) the required computer hardware is low cost, 2) commercially available plants from different manufacturers can be supported under the same CACSD environment with no hardware modifications, 3) both the Windows and Linux operating systems can be supported via the MATLAB based Real-Time Windows Target and the Quality Real Time Systems (QRTS) based Real-Time Linux Target, and 4) the Simulink block diagram approach can be utilized to prototype control strategies; thereby, eliminating the need for low level programming skills. It is believed that the above advantages related to standardization of the CACSD design tools will facilitate: 1) the sharing of laboratory resources within each university (i.e., between departments) and 2) the development of Internet laboratory experiences for students (i.e., between universities).

关键词： Standardization Computer languages Control systems Laboratories Real time systems MATLAB Computer aided manufacturing Hardware Linux Costs

来源：评论

学校读者我要写书评

暂无评论

A study on neural networks for vision-based road following of autonomous vehicle

A study on neural networks for vision-based road following o...

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： D.Y. Jeong S.J. Park S.H. Han M.H. Lee T. Shibata Department of Mechanical Design Graduate School of Kyungnam University Masan South Korea School of Electricity and Electronics TongMyong University South Korea Division of Mechanical and Automation Engineering Kyungnam University Masan South Korea School of Mechanical Engineering Pusan National University busan South Korea Robotics Department Mechanical Engineering Laboratory Ministry of International Trade and Industry Japan

ISBN: (纸本)0780370902

This paper describes a neural network control for an autonomous vehicle to follow roadways with a vision camera. Without a complex geometric reasoning from visual image to vehicle-centered representation in conventional studies, the control system transfers the inputs of visual information into the output of steering angle directly. The neural networks replaces the human driving skill of nonlinear relation between vanishing lines of road boundary on the camera image and the steering angle of vehicle on the real ground. In straight and curved road, the driving performances by the proposed control scheme are measured in the configuration of disturbance and white noise correspond to vehicle joggling and sensing error.

关键词： Neural networks Road vehicles Cameras Vehicle driving Remotely operated vehicles Mobile robots Control systems Humans Land vehicles Performance evaluation

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：