The influence of non-uniform magnetic field on the beam with magnetorheological fluid is used to build the vibration control algorithms. A special laboratory stand with appropriate electromagnet was built to test free...
详细信息
The influence of non-uniform magnetic field on the beam with magnetorheological fluid is used to build the vibration control algorithms. A special laboratory stand with appropriate electromagnet was built to test free and forced vibrations of the beam with and without control. Experiments were done to determine the stiffness and damping parameters of the beam for various currents flowing in electromagnet coils. A vibration control algorithm was proposed, based on the system identification data and using the averaging technique of nonlinear system analysis.
Model Predictive Control (MPC) relies heavily on the robot model for its control law. However, a gap always exists between the reduced-order control model with uncertainties and the real robot, which degrades its perf...
详细信息
ISBN:
(数字)9798350384574
ISBN:
(纸本)9798350384581
Model Predictive Control (MPC) relies heavily on the robot model for its control law. However, a gap always exists between the reduced-order control model with uncertainties and the real robot, which degrades its performance. To address this issue, we propose the controller of integrating a data-driven error model into traditional MPC for quadruped robots. Our approach leverages real-world data from sensors to compensate for defects in the control model. Specifically, we employ the Autoregressive Moving Average Vector (ARMAV) model to construct the state error model of the quadruped robot using data. The predicted state errors are then used to adjust the predicted future robot states generated by MPC. By such an approach, our proposed controller can provide more accurate inputs to the system, enabling it to achieve desired states even in the presence of model parameter inaccuracies or disturbances. The proposed controller exhibits the capability to partially eliminate the disparity between the model and the real-world robot, thereby enhancing the locomotion performance of quadruped robots. We validate our proposed method through simulations and real-world experimental trials on a large-size quadruped robot that involves carrying a 20 kg un-modeled payload (84% of body weight).
This paper investigates the feasibility of a neural network motion control methodology applied in the piezoelectric actuation systems for micro/nano manipulation. This control methodology is proposed for tracking desi...
详细信息
This paper investigates the feasibility of a neural network motion control methodology applied in the piezoelectric actuation systems for micro/nano manipulation. This control methodology is proposed for tracking desired motion trajectories in the presence of unknown system parameters, non-linearities including the hysteresis effect, and external disturbances in the micro/nano manipulation systems. The advantage of this control methodology is that no prior knowledge of the system parameters, or of the initial estimates of the neural networks, is required for the physical realisation of the control system. Simulation results of the control methodology for tracking a desired motion trajectory are presented. This control methodology can be utilised to realise high performance micro/nano manipulation systems driven by piezoelectric actuators.
Autonomous grasping is an important factor for robots physically interacting with the environment and executing versatile tasks. However, a universally applicable, cost-effective, and rapidly deployable autonomous gra...
详细信息
What marginally motivated undergraduate student would not perk up at the thought of working with food or a "bomb", or both, in a thermodynamics laboratory experiment? Sure, our experience has shown that stud...
详细信息
The addition of nanofillers has been shown an alternative to improve the fiber/matrix interaction and the epoxy matrix mechanical properties. Many studies have reported the addition of carbon based nanostructures, i.e...
详细信息
The formation of resonant photonic structures in porous silicon leverages the benefit of high surface area for improved molecular capture that is characteristic of porous materials with the advantage of high detection...
详细信息
In September 2003 the United States Military Academy (USMA) hosted its first annual engineering exposition (Expo). More than just a college fair, the Expo was an evening event to promote engineering at USMA and across...
详细信息
In September 2003 the United States Military Academy (USMA) hosted its first annual engineering exposition (Expo). More than just a college fair, the Expo was an evening event to promote engineering at USMA and across the Mid-Hudson (New York) region. The objectives of the 2003 Expo included: 1) Promote engineering and diversity in engineering across all disciplines. 2) Promote membership in engineering societies. 3) Provide an outreach event to local and regional high school and middle school students. The Expo specifically addressed diversity in engineering in the Mid-Hudson region and at USMA. The Mid-Hudson and West Point Student Chapters of American Society of mechanicalengineering (ASME), Society of Women Engineers (SWE), and American Society of Civil Engineers (ASCE) supported the event.
In this paper we present a new experimental work and results regarding the bin-picking problem that has been still a challenging topic in robotic so far. Although the number of potential applications for bin-picking i...
详细信息
ISBN:
(纸本)9781617387197
In this paper we present a new experimental work and results regarding the bin-picking problem that has been still a challenging topic in robotic so far. Although the number of potential applications for bin-picking is growing in industry representing a huge market potential, in many situations it is done manually. We present a functional solution for the bin-picking problem that has been verified on a variety of objects. Initially, there is presented a pilot project concerned with a picking of standard nuts from a bin. Further, based on interests from automotive industry, we dealt with objects complex in shape (sheet-metal parts). However, the solution is not universal;the whole bin-picking system has to be adjusted according to various object specifications. The bin-picking system, presented in this work, for objects manipulation (grasping and placement) is mainly concerned with an industrial robot, 3D vision system mounted on a movable linear axis frame and a proper end effector-standard gripper or vacuum gripper depending on the variety of objects to manipulate.
暂无评论