检索结果-内蒙古大学图书馆

IEE Colloquium on Genetic Algorithms for control systems engineering

作者： K.K. Chan A.M.S. Zalzala Dept. of Automatic Control & Syst. Eng. Sheffield Univ. UK Robotics Research Group Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

This paper is concerned with introducing a genetic-based algorithm for the minimum-time trajectory planning of articulated robotic manipulators. The planning procedure is performed in the configuration space and respects all physical constraints imposed on the manipulator design, including the limits on the torque values applied to the motor of each joint of the arm; consequently, the complete nonlinear dynamic robot model is incorporated in the formulation.< >

关键词： Genetic algorithms Nonlinear systems Motion-planning Robots

来源：评论

学校读者我要写书评

暂无评论

A Force control Method Using the Relative Motion between the Manipulator and a Workpiece

引用

IFAC Proceedings Volumes 1993年第2期26卷 461-464页

作者： K. Watanabe T. Fukuda S.G. Tzafestas Department of Mechanical Engineering Faculty of Science and Engineering Saga University Honjomachi-1 Saga 840 Japan Department of Mechano-Informatics and Systems Faculty of Engineering Nagoya University Furocho Nagoya 464-1 Japan Intelligent Robotics and Control Unit Computer Science Division National Technical University of Athens Zografou Athens 157 73 Greece

control methods based on using the relative motion between the manipulator and the workpiece are described for controlling the force of a one-dimensional manipulator, in which it is assumed that there are no collisions between the manipulator and the workpiece and we use a computed force law which is similar to the computed torque law in the trajectory tracking problem of a manipulator. We consider two cases depending on whether the position and velocity of the workpiece (or end-effector) are available or not to calculate the computed force control. The effectiveness of the proposed control methods is illustrated by some computer simulations.

关键词： PID control contact motion force control robots manipulator servomechanisms

来源：评论

学校读者我要写书评

暂无评论

A Smooth Variable Structure Position control Of PCB Motor

A Smooth Variable Structure Position Control Of PCB Motor

引用

Singapore International Conference on Intelligent control and Instrumentation, SICICI

作者： A.K. Paul B. Bandyopadhyay M.C. Srisailam Divn. of Remote Handling and Robotics Bhabha Atomic Research Centre Mumbai India Systems and Control Engineering Department of Electrical Engineering Indian Institute of Technology Bombay Mumbai India

来源：评论

学校读者我要写书评

暂无评论

Harmonic insertion in PWM inverter drive schemes

引用

European Transactions on Electrical Power 1992年第3期2卷 143-151页

作者： Theocharis, J. Petridis, V. Dr.-Ing. John Theocharis (1956) graduated as an Electrical Engineer from Aristotelian University of Thessaloniki.Greece in 1980. From 1980 to 1985 he has been with the scientific staff of the Department of Electrical Engineering at the Aristotelian University where he received the Ph.D. degree in 1985. Since 1986 he is working as a lecturer and in 1990 he became assistant professor at the Department of Electronics and Computer Engineering in the m e university. His research activities include control power electronics and electrical motor drives. Recently he is working with the Neural Network Systems with applications to field oriented control problems. Aristotelian University of Thessaloniki School of Engineering Faculty of Electrical Engineering Dept. of Electronics & Computer Engineering P.O. Box 438 GR-Thessalonikil/Greece.T+3131/219784Fax + 3031/274868) Prof. Dr.-Ing. Vasilis Petridis (1946) graduated from National Technical University of Athens Greece in 1969.He obtained the M.Sc. and the Ph.D. in electronics and systems from the University of London in 1970 and 1974. respectively. H i s interests include applied automatic control neural networks drives dynamic systems robotics etc. He is currently professor in the Department of Electronics and Computer Engineering of the University of Thessaloniki. (Aristotelian University of Thessaloniki. School of EngineeringFaculty of Electrical Engineering Dept. of Electronics & Computer Engineering P.O. Box 438. GR-ThessaloniW Greece T+3031/219784.Fax+3031/274868)

The procedure of harmonic insertion is generalized in this paper. Analytical expressions of the voltage spectra are derived. The insertion of the 3rd harmonic to the modulating signal, which is of particular interest, is considered as a special case. It is demonstrated in this case that the fundamental harmonic component of the phase and the line‐to‐line voltage is not affected by the insertion of the 3rd harmonic for sufficiently high values of the chopping ratio. However it has been shown that the higher harmonic spectrum is significantly improved as compared to the case of pure sinusoidal modulation. For different values of the fundamental component the optimal values of the amplitude of the third harmonic to be inserted have been calculated so that the distortion factor of the higher harmonic spectrum is minimized. Other cases of harmonic insertion are also considered which provide spectrum efficiency improvement. Experimental results are given which have been obtained by means of a microcomputer controlled PWM generator constructed for this purpose. Copyright © 1992 John Wiley & Sons, Ltd.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A KNOWLEDGE-BASED APPROACH TO MODELING OF ROBOTIC ASSEMBLY CELLS

引用

ROBOTICA 1991年第1期9卷 31-42页

作者： KIM, DW LEE, BH KO, MS Robotics and Intelligent Systems Laboratory Department of Control and Instrumentation Engineering Seoul National University Seoul 151–742 (Korea)

In this paper, an approach to modelling of a robotic assembly cell is proposed and a method for managing the cell operation is described using a knowledge base. Since the modelling structure is based on the concept of the state variable, the relationships between states are described by the state transition map (STM). The knowledge-bases for state transition and assembly job information are obtained from the STM and the assembly job tree (AJT), respectively. Using the knowledge-base, the system structure is discussed in relation to both managing the cell operation and evaluating the performances. Finally, a simulation algorithm is presented with the simulation results to show the significance of the proposed modelling approach.

关键词： MODELING ASSEMBLY CELLS robotics KNOWLEDGE-BASE STATE TRANSITION

来源：评论

学校读者我要写书评

暂无评论

On the design and simulation-based validation of an active compliance law for multi-arm robots

引用

robotics and Autonomous systems 1989年第4期5卷 307-321页

作者： Bruhm, H. Deisenroth, J. Schädler, P. Technical University of Darmstadt Department of Control Engineering Control Systems Theory and Robotics Section Schloßgraben 1 Darmstadt6100 Germany

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 used to design the compliance controller comprise a structural design phase and dynamics design phase. The proposed controller structure simplifies the design problem as it maps the multivariate system onto two decoupled SISO loops with PI controllers describing internal and external compliance behavior. The conditions for the validity of this conceptual system model are discussed and the significance of task parameters such as grasp configuration, force distribution law and mechanical compliance values for the controller structure is explored. The dynamic behavior of internal and external compliance is determined in the second design phase by the choice of gain and integral action time of the respective controllers. An example shows the applicability of classical SISO control system design tools such as the root locus technique. The validity of the design method has been verified by means of the multi-arm robot simulation program MAROSIM, which is also presented in the paper. © 1989

关键词： controllers

来源：评论

学校读者我要写书评

暂无评论

control of a 5-link biped robot for steady walking

Control of a 5-link biped robot for steady walking

引用

IEEE International Symposium on Intelligent control (ISIC)

作者： T.-T. Lee P.L. Jeng W.A. Gruver Center for Robotics and Manufacturing Systems and Department of Electrical Engineering University of Kentucky Lexington KY USA Institute of Control Engineering National Chiao Tung University Hsinchu Taiwan

Trajectory planning methods and control algorithms for biped robot steady walking are discussed. The model following plus variable structure systems technique is developed for the control of dynamic walking in the sagittal plane. The nonlinear feedback plus modified alpha -computed torque technique is introduced for walking in the frontal plane. simulation results are provided for level walking and ascending on staircases for a five-link biped robot. These results indicate that the proposed algorithms could achieve robust trajectory tracking even in the presence of system modeling errors. Specifically, simulation results show that, even in the presence of disturbances, gait stability can be achieved within two steps after the start of walking. In addition, the biped robot can walk with prespecified patterns.< >

关键词： Legged locomotion Trajectory Leg Torso Polynomials Equations Robots Carbon capture and storage Boundary conditions Interpolation

来源：评论

学校读者我要写书评

暂无评论

Identification and control of a single-link flexible manipulator

Identification and control of a single-link flexible manipul...

引用

IEEE Conference on Decision and control

作者： K.S. Rattan V. Feliu H.B. Brown Department of Electrical Systems Engineering Wright State University Dayton OH USA Departamento Ingenieria Electrica Electronica y Control UNED (Spanish National University of Distance Education) Madrid Spain Robotics Institute Carnegie Mellon University Pittsburgh PA USA

Model identification and control of a single-link, very flexible manipulator is carried out. The objective is first to find the transfer functions relating the tip position to the motor position and the motor position to the motor current, and then to use the transfer functions to control the tip position of the manipulator. Because of the nonlinearities introduced by the static friction of the motor and due to very low damping of the manipulator, classical frequency-domain techniques cannot be used to find the transfer functions, so a novel method is proposed. A set of experiments has been performed, and transfer functions which fit this data have been obtained. The control scheme contains an inner loop for the motor position and an outer loop for the tip position. For the outside loop, feedforward control and the computed torque techniques are evaluated.< >

关键词： Transfer functions Friction Manipulators Torque control Wire Weight control control systems Frequency domain analysis Optimal control Robots

来源：评论

学校读者我要写书评

暂无评论

Towards Autonomous Robotic systems 1

引用

丛书名： Lecture Notes in Computer Science

1000年

作者： Roderich Groß Lyuba Alboul Jacques Penders Chris Melhuish Mark Witkowski Tony J. Prescott

ISBN: (数字)9783642232329

ISBN: (纸本)9783642232312

This book constitutes the refereed proceedings of the 12th Annual Conference Towards Autonomous robotics systems, TAROS 2011, held in Sheffield, UK, in August/September 2011.;The 32 revised full papers presented together with 29 two-page abstracts were carefully reviewed and selected from 94 submissions. Among the topics addressed are robot navigation, robot learning, human-robot interaction, robot control, mobile robots, reinforcement learning, robot vehicles, swarm robotic systems, etc.

关键词： Artificial Intelligence Image Processing and Computer Vision User Interfaces and Human Computer Interaction

来源：评论

学校读者我要写书评

暂无评论

Manufacturing systems control Design 1

引用

丛书名： Advances in Industrial control

1000年

作者： Stjepan Bogdan Zdenko Kovačić Frank L. Lewis José Mireles

ISBN: (数字)9781846283345

ISBN: (纸本)9781852339821;9781849969895

The series Advances in Industrial control aims to report and encourage technology transfer in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computer methods, new applications, new philosophies , new challenges. Much of this development work resides in industrial reports, feasibility study papers and the reports of advanced collaborative projects. The series offers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid dissemination. In some areas of manufacturing, the elements of a flexible manufacturing system form the key components of the process line. These key components are four-fold: a set of programmable robots and machines, an automated materia- handling system that allows parts to be freely routed and re-routed, a buffer storage system where parts and partly-assembled components can wait until required for further processing and assembly and finally, a supervisory control system. The technology employed to coordinate and control all these components as a working system is usually based on programmable logic controllers. The use of this automation hardware and software in manufacturing is designed to yield significant cost reductions and to enhance quality.

关键词： control and systems Theory Industrial and Production engineering Manufacturing, Machines, Tools, Processes Simulation and Modeling Linear and Multilinear Algebras, Matrix Theory Industrial Organization

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：