A novel online inverse kinematics solution of redundant manipulator to avoid joint limits is presented. A Widrow-Hoff neural network (NN) with a learning algorithm derived by applying Lyapunov approach is introduced f...
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A novel online inverse kinematics solution of redundant manipulator to avoid joint limits is presented. A Widrow-Hoff neural network (NN) with a learning algorithm derived by applying Lyapunov approach is introduced for this problem. Since the inverse kinematics has infinite number of joint angle vectors, a fuzzy neural network (FNN) is designed to provide an approximate value for that vector. This vector is fed into the NN as a hint input vector to guide the output of the NN within the self-motion. This FNN is designed based on cooperatively controlling each joint angle of the manipulator. The joint velocity limits as well as the joint limits are incorporated into this method. Experiments are conducted for the PA-10 redundant arm to demonstrate the efficacy of the proposed control system. A comparative study is made with the gradient projection method.
For Internet-based teleoperation systems, user-friendly natural interfaces are advantageous because those systems are intended to be used by non-experts. In developing user friendly interfaces, natural language commun...
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For Internet-based teleoperation systems, user-friendly natural interfaces are advantageous because those systems are intended to be used by non-experts. In developing user friendly interfaces, natural language communication is mandatory. This work presents a system in which a sub-set of natural language is used to command a tele-robot manipulator doing an object sorting task. The paper discusses about referring to objects with natural language commands such as "pick the small red cube". This is achieved by learning individual lexical symbols that refer to colors, shapes, and sizes independently, and then inferring the meaning of a combination of them.
This paper describes an adaptive control for nonholonomic mobile robots, which are subjected to a suddenly changed disturbance due to the change of payloads. We adopt a control architecture based on a two-degrees-of-f...
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This paper describes an adaptive control for nonholonomic mobile robots, which are subjected to a suddenly changed disturbance due to the change of payloads. We adopt a control architecture based on a two-degrees-of-freedom design, where the feedforward controller is constructed by a neural network (NN) to acquire an inverse dynamical model of the robot, whereas the feedback controller is designed by two methods: one is a conventional PD compensator and the other is an adaptive fuzzy compensator. A concept of virtual master-slave robots is applied to obtain an inverse model of a nonholonomic robot. A compensator needs to be used to reduce the effect of the NN mapping errors or to suppress the effect of a sudden change of payloads. It is demonstrated by several simulations that the present approach is effective for controlling a nonholonomic mobile robot in a navigation of trajectory tracking problem for the positions and azimuth.
Brain dysfunction in the cerebral cortex, cerebellum and/or basal ganglia causes serious movement disorders such as cerebellar ataxia, Parkinson disease and so on. Compensation of hand movement by adding an external f...
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In this paper, the concept of forcefree control is extended to realize flexible motion of industrial articulated robot arms under the virtual operational circumstances such as free of inertia, friction and gravity thr...
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In this paper, the concept of forcefree control is extended to realize flexible motion of industrial articulated robot arms under the virtual operational circumstances such as free of inertia, friction and gravity through independent compensation of inertia, friction and gravity. The forcefree control with independent compensation was verified with an experimental study of an actual industrial robot arm.
We provide an overview of the DAME project, and a discussion of the progress made to date on the development of a distributed aeroengine diagnosis environment as a proof of concept demonstration for grid computing. We...
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We provide an overview of the DAME project, and a discussion of the progress made to date on the development of a distributed aeroengine diagnosis environment as a proof of concept demonstration for grid computing. We discuss the development of a demonstration diagnosis workbench system for this complex, data intensive, diagnosis application that must be operated as a distributed 'virtual organisation'. We describe the core diagnosis applications that have been implemented as grid services, and explain how these services are being deployed within the overall diagnosis process
A positive-real like lemma for finite dimensional linear time invariant uncertain systems with state multiplicative noise is derived. The system uncertainties are assumed to be of either polytopic or Markov jump type....
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A positive-real like lemma for finite dimensional linear time invariant uncertain systems with state multiplicative noise is derived. The system uncertainties are assumed to be of either polytopic or Markov jump type. Passivity conditions for both cases are derived in terms of linear matrix inequalities. The results are used to the design a direct adaptive controller for a tracking system.
The present paper deals with the blind equalization problem of a single-input single-output infinite impulse response (SISO-IIR) system with additive Gaussian noise. To solve the problem, we propose a "super- exp...
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Brain dysfunction in the cerebral cortex, cerebellum and/or basal ganglia causes serious movement disorders such as cerebellar ataxia, Parkinson disease and so on. Compensation of hand movement by adding an external f...
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Brain dysfunction in the cerebral cortex, cerebellum and/or basal ganglia causes serious movement disorders such as cerebellar ataxia, Parkinson disease and so on. Compensation of hand movement by adding an external force will recover the motor function and will be helpful for improving the quality of patients' daily life. This paper proposes a method for compensating human hand movement on visual target tracking by adding an assistant force. Mathematical model was obtained from the measurement data of visual target tracking for each subject, and the compensator was constructed based on the model. Effectiveness of the compensation method was investigated through the experiment.
In this paper, a back propagation neural network (NN) is presented for the inverse kinematics of redundant manipulator with joint limits. Since the inverse kinematics has infinite number of joint angle vectors, a fuzz...
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