In this paper a class of two level systems where N linear subsystems S1, S2,…, SN in a lower hierarchical level are interconnected through a cordinator S 0 in a higher hierarchical level is considered. The model of s...
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In this paper a class of two level systems where N linear subsystems S1, S2,…, SN in a lower hierarchical level are interconnected through a cordinator S 0 in a higher hierarchical level is considered. The model of such a system is presented together with a controlling algorithm that preserves the structure of the system. The paper is mainly a survey of all related work and presents all the critical aspects of such a controlling scheme such as structural controllability, fixed modes, the algorithm itself and stability of the closed loop system.
This paper presents state-of-the-art issues concerning virtual reality (VR) as applied to robotics and control. After a short outline of the fundamental VR notions, the use of VR in robot (manipulator, mobile) telecon...
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This paper presents state-of-the-art issues concerning virtual reality (VR) as applied to robotics and control. After a short outline of the fundamental VR notions, the use of VR in robot (manipulator, mobile) telecontrol is discussed and some principal results are provided. Two representative examples are briefly described along with some concluding remarks.
In Complex Large Scale Systems there is an oncoming need for more autonomous and intelligent systems, new methodologies from discipline research areas have been proposed. A general formulation for the Overall Control ...
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In Complex Large Scale Systems there is an oncoming need for more autonomous and intelligent systems, new methodologies from discipline research areas have been proposed. A general formulation for the Overall Control Problem of Complex Systems is presented. Then, the use of a hybrid methodology, which combines fuzzy logic and neural networks, Fuzzy Cognitive Map (FCM), for the modeling Supervisory Complex Systems, using is investigated. The description and the construction of Fuzzy Cognitive Map is examined and a model for the supervisor is proposed.
We propose an approach to describe and contro1 complex systems based on fuzzy cognitive map (FCM). A mathematical model of FCMs and a ealculation method are described as well as a methodology for constructing and deve...
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Parallel mechanisms frequently contain an unstable type of singularity that has no counterpart in serial mechanisms. When the mechanism is at or near this type of singularity, it loses the ability to counteract extern...
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Parallel mechanisms frequently contain an unstable type of singularity that has no counterpart in serial mechanisms. When the mechanism is at or near this type of singularity, it loses the ability to counteract external forces in certain directions. By altering the mechanism through, for example, additional kinematic linkages, the singularity can be modified or even removed. Another approach is to actuate certain unactuated degrees of freedom. The manipulability is guaranteed to improve over the original mechanism, but the mechanism is now over-actuated. By studying a recently proposed parallel machining center, we examine the effectiveness of singularity modification through redundant actuation. As a metric, we use the condition number of the recently developed manipulability ellipsoid for general parallel mechanisms.
This paper reviews a number of recent algorithms for mobile robot path planning, navigation and motion control, which employ fuzzy logic and neuro-fuzzy learning and reasoning. Starting with a discussion of the struct...
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This paper reviews a number of recent algorithms for mobile robot path planning, navigation and motion control, which employ fuzzy logic and neuro-fuzzy learning and reasoning. Starting with a discussion of the structure of fuzzy and neuro-fuzzy systems, two fuzzy obstacle avoidance path planning algorithms are presented followed by a 3-level neuro-fuzzy local and global path planning scheme. Then the motion planning and control problem is considered. A fuzzy path tracking strategy is outlined, followed by a fuzzy navigation algorithm among polygonal obstacles and a learning-by-doing neuro-fuzzy motion planning scheme. The paper ends with a hybrid robust motion control technique which combines the minimum interference and sliding mode control principles with fuzzy inference. A representative set of examples are included which illustrate the performance of the algorithms under various realistic conditions.
The objective of the project is to develop a highly manoeuvrable mobile base suitable for operation in a hazardous environment. The base utilizes Omni wheels whose unique motion properties allow for three complete deg...
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The objective of the project is to develop a highly manoeuvrable mobile base suitable for operation in a hazardous environment. The base utilizes Omni wheels whose unique motion properties allow for three complete degrees of freedom: two translation degrees and one rotational. Phase I of the project, construction of the Omnibot mobile base is already complete. The mobile base provided the testbed for going into phase II of the project. The main emphasis is to incorporate a vision system, and hazardous gas detectors to the mobile base. The Omnibot mobile system consists of two main components: the mobile base and the command base. Issues concerning the mobile base and the command base design and implementation for phase II are detailed.
The new ASTM E1989–98 Laboratory Equipment Control Interface Specification (LECIS) is a robust standard definition of equipment behavior while under remote control. The goal of the standardization effort is to facili...
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The new ASTM E1989–98 Laboratory Equipment Control Interface Specification (LECIS) is a robust standard definition of equipment behavior while under remote control. The goal of the standardization effort is to facilitate “plug-and-play” integration of laboratory automation with standard hardware behavior and software interfaces. The LECIS standardizes laboratory equipment behavior and a message passing scheme between the controller and equipment that synchronizes this behavior. Commercial adoption of this new standard is well under way.
This paper addresses the problem of computing n-finger form-closure grasps of polyhedral objects. Given grasping points of m fingers not in form-closure, we propose a sufficient and necessary condition for other n-m f...
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This paper addresses the problem of computing n-finger form-closure grasps of polyhedral objects. Given grasping points of m fingers not in form-closure, we propose a sufficient and necessary condition for other n-m fingers to achieve an n-finger form-closure grasp with the m fingers. Based on this condition, it is demonstrated that the problem of computing grasping points of the n-m fingers can be formulated as an existence problem of a solution for a set of linear inequalities. Several sufficient conditions are also presented to guarantee the form-closure property of the n-finger grasp.
Assuming that grasp points of n-1 fingers on a polyhedral object are given and the n-1 fingers do not achieve a form-closure grasp, this paper proposes an efficient algorithm for computing all grasp points on the obje...
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Assuming that grasp points of n-1 fingers on a polyhedral object are given and the n-1 fingers do not achieve a form-closure grasp, this paper proposes an efficient algorithm for computing all grasp points on the object for the n-th finger to achieve a form-closure grasp with other n-1 fingers. A sufficient and necessary condition is developed for forming the form-closure grasp. Based on the sufficient and necessary condition, we transform the grasp computation to a problem of: 1) computing the convex cone of the primitive contact wrenches of the n-1 fingers; and 2) checking the intersection between a circular region and a convex polygon in a 2D space. We have implemented the algorithm and confirmed its usefulness by an example.
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