A special active compliance law is presented as the feedback element in a non-master/slave (i.e. symmetric) coordination strategy with explicit force distribution for robots with multiple cooperating arms. The method ...
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In this paper, a multi-class and multi-objective combined ramp metering and routing control strategy is proposed to improve performance in freeway traffic networks. The control strategy is of the multi-class type, i.e...
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Future space robot generations will replace astronauts in deep space missions and routine operations. They will use tools, and perform assembly, disassembly and handling tasks for maintenance purposes. A key feature o...
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Future space robot generations will replace astronauts in deep space missions and routine operations. They will use tools, and perform assembly, disassembly and handling tasks for maintenance purposes. A key feature of autonomous, task-level commandable robots is a valid and complete representation of an application's task space for planning and optimizing a rough action sequence facing a sensorially classified situation. This paper shows such a representation for a robot-based automated material science experiment set-up. It proposes a method of analysis by which a valid and complete task space model can be obtained. Results of practical experiments with a terrestrial laboratory mock-up using the novel representation scheme are presented.
In this paper, we consider Riemannian online convex optimization with dynamic regret, which involves minimizing the cumulative loss difference between a learner's decisions and a sequence of adaptive decisions acr...
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Problem of adaptive state observer synthesis for linear time-varying (LTV) system with unknown time-varying parameter and delayed output measurements is considered. State observation problem has attracted the attentio...
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This paper is concerned with efficient and fast computations of adaptive control algorithms for robot manipulators. Adaptive controllers employing the highly coupled and non-linear dynamics of manipulators are computa...
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This paper is concerned with efficient and fast computations of adaptive control algorithms for robot manipulators. Adaptive controllers employing the highly coupled and non-linear dynamics of manipulators are computationally complex, which presents a major obstacle in their real-time implementation for industrial applications. A solution to this problem is suggested by utilising a parallel-processing approach. The controller algorithm is implemented for a robot manipulator with six degrees of freedom, utilising a transputer network, for which programming is performed in C. The execution times achieved by the distributed algorithm are well within the limit acceptable for real-time control.
The paper focuses on developing a finite-time approach for sensors fault detection and isolation in MIMO systems. The proposed solution utilizes the synthesis of a bank of unknown input observers, tailored specificall...
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The paper proposes a new algorithm for compensating external disturbances for a class of multi-input multi-output (MIMO) linear systems. The solution of the problem is based on the use of the internal model principle ...
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Any manufacturing process aims to become more efficient. There is a plenty ways to achieve this. One of those is industrial equipment technical state prediction. Some of the methods are considered. Also, inclusion of ...
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Norm optimal iterative learning control(NOILC) has recently been applied to iterative learning control(ILC) problems in which tracking is only required at a subset of isolated time points along the trial duration. Thi...
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Norm optimal iterative learning control(NOILC) has recently been applied to iterative learning control(ILC) problems in which tracking is only required at a subset of isolated time points along the trial duration. This problem addresses the practical needs of many applications, including industrial automation, crane control, satellite positioning and motion control within a medical stroke rehabilitation context. This paper provides a substantial generalization of this framework by providing a solution to the problem of convergence at intermediate points with simultaneous tracking of subsets of outputs to reference trajectories on subintervals. This formulation enables the NOILC paradigm to tackle tasks which mix "point to point" movements with linear tracking requirements and hence substantially broadens the application domain to include automation tasks which include welding or cutting movements, or human motion control where the movement is restricted by the task to straight line and/or planar segments. A solution to the problem is presented in the framework of NOILC and inherits NOILC s well-defined convergence properties. Design guidelines and supporting experimental results are included.
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