Most control systems used for cable-driven parallel manipulators employ a simple inner control loop for controlling the driving force of the actuators. By this means the effects of some nonlinear uncertainties of the ...
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ISBN:
(数字)9781728158150
ISBN:
(纸本)9781728158167
Most control systems used for cable-driven parallel manipulators employ a simple inner control loop for controlling the driving force of the actuators. By this means the effects of some nonlinear uncertainties of the actuator and power transmission systems are significantly reduced, and in turn, this helps the outer user-specified position control loop to perform more accurately. However, this positive impact on performance relies on non achievable assumptions that the inner control loop is fast and accurate enough, and its dynamics can be totally ignored. The main contribution of this paper is to analyze the stability of the system as a whole, considering both inner and outer loop controllers. The outer loop controller proposed in here is a finite time robust sliding mode whose stability is analyzed through the Lyapunov direct method. A deployable cable-driven parallel robot, as the case study, is also considered in this paper, which is characterized by several intrinsic kinematic and dynamic uncertainties. Finally, the performance and effectiveness of the proposed robust controller is evaluated through some simulations and experiments in order to verify the effectiveness and the characteristics of the cascade controller structure in practice.
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation pr...
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Haptic interfaces are mechatronic devices designed to render tactile sensations;although they are typically based on robotic manipulators external to the human body, recently, interesting wearable solutions have been ...
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Mechatronics has traditionally been considered a simple combination of mechanical and electrical systems, but as technology and capability have advanced, the field of mechatronics has expanded to include mechanical en...
Mechatronics has traditionally been considered a simple combination of mechanical and electrical systems, but as technology and capability have advanced, the field of mechatronics has expanded to include mechanicalengineering, electronics, computer engineering, and controls engineering. This multidisciplinary nature of mechatronics makes it an ideal basis from which to construct new capabilities and knowledge. As a mandatory senior level course for mechanical engineers at The Citadel, mechatronics is a course that allows students to exercise their creativity and problem solving skills in a multidisciplinary way. Upon entering this course, many students comprehend some basics of several of the constitutive disciplines, but now must work to integrate these areas while implementing new devices. This paper describes four hands-on labs that progress in difficulty. These challenges follow the course material and design, pushing the students to work through the lecture material and example problems. Students are encouraged to think about the final product they will present, and work towards implementing portions of it in each lab requirement. For those that adhere to this advice, the final integration is much easier than those who treat each lab as a disjointed exercise. Each lab requirement has at least one in-class work session, and two require the student teams to present their prototype or proof of concept. The faculty member who teaches the course and a lab technician are available to support the groups and provide additional information or assistance on implementing their devices. Student reviews (4.35 out of 5 on evaluations) and grades show they are meeting the desired learning objectives and enjoy the challenges (4.40 out of 5 on evaluations). Students with no prior programming experience in C++ quickly gain proficiency and are more confident with their critical thinking, creativity, and problem solving skills as well as their ability to be self-learners. Instruc
We present a new method for the control of waves based on inverse multiple scattering theory. Conceived as a generalization of the concept of metagrating, we call metaclusters to a finite set of scatterers whose posit...
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In this paper, a new 4-D hyperchaotic system with one equilibrium point is first introduced. It contains ten terms with three quadratic nonlinearities. Of particular interest is that this novel system can generate per...
In this paper, a new 4-D hyperchaotic system with one equilibrium point is first introduced. It contains ten terms with three quadratic nonlinearities. Of particular interest is that this novel system can generate periodic attractor, quasi-periodic attractor, four-scroll chaotic attractor and four-scroll hyperchaotic attractor with the variation of one of its parameters. Major dynamical properties of the new system are investigated such as sensitivity to the initial conditions, dissipativity, equilibrium point stability, Kaplan-Yorke dimension, Lyapunov exponents spectrum and bifurcation diagram. In addition, an equivalent electronic circuit schematic is implemented using Multisim software; the obtained results confirm the feasibility of the proposed system.
In this paper, a decentralized chemical-source localization method is presented. In a real-world scenario, many challenges arise, including sporadic chemical measurements due to the complex interactions between the un...
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In this perspective, recent advances and current research challenges concerning the mechanical properties of stabilized nanocrystalline face-centered cubic (FCC) metals are discussed. First, a brief review of key expe...
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The goal of environmental education is not protecting the natural environment or coping with environmental problems through simple solutions. It addresses people and social groups of all ages and aims at developing fr...
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