Current generation unmanned underwater vehicles, equipped with robotic manipulators, are teleoperated and consequently place a large workload burden on the human operator. A greater degree of automation could improve ...
Current generation unmanned underwater vehicles, equipped with robotic manipulators, are teleoperated and consequently place a large workload burden on the human operator. A greater degree of automation could improve the efficiency and accuracy with which underwater tasks are carried out. These tasks can involve manipulator motion that is both unconstrained and/or constrained. For unconstrained motion, where a trajectory requires following, a prerequisite is good joint angle control. An adaptive self-tuning pole-placement controller is used for joint angle control. Practical results show the benefits compared to conventional fixed-gain control. For constrained motion, often simultaneous control of position and force is required. An adaptive hybrid position/force controller is proposed and compared to a fixed-gain version. Simulation and practical results illustrate the merits and drawbacks of each scheme.
The paper shows the main advantage of certain low-complexity digital control strategies over techniques resulting in more complex controlsystems; that is, the superior level of performance when subjected to finite wo...
详细信息
ISBN:
(纸本)0780373065
The paper shows the main advantage of certain low-complexity digital control strategies over techniques resulting in more complex controlsystems; that is, the superior level of performance when subjected to finite wordlength effects. Examples demonstrate the performance limitations associated with highly complex control laws and the benefits of using properly selected, simple control schemes when implemented with fixed- and floating-point arithmetic and restricted number of bits.
A furniture polishing robot which uses a trajectory generator based on cutter location data, is proposed. The position and orientation of the polishing tool is suitably controlled by referring to the output from the t...
详细信息
A furniture polishing robot which uses a trajectory generator based on cutter location data, is proposed. The position and orientation of the polishing tool is suitably controlled by referring to the output from the trajectory generator. The trajectory generator yields a zigzag path, whirl path or their combinational path according to the shape of each workpiece. Using the trajectory generator, the present polishing robot doesn't need the conventional complicated teaching process. The contact force acting between the polishing tool and the workpiece is controlled through a desired impedance model to follow in Cartesian space. The effectiveness and promise of the proposed polishing robot are demonstrated through some experiments concerning polishing tasks using an industrial robot JS-10 with a PC based controller.
The paper presents an integrated software-hardware solution to effectively model and simulate internal combustion engine controlsystems. The solution is based on RT-LAB/sup TM/. The characteristics of the proposed mo...
详细信息
The paper presents an integrated software-hardware solution to effectively model and simulate internal combustion engine controlsystems. The solution is based on RT-LAB/sup TM/. The characteristics of the proposed modeling and simulation approach are the preservation of accuracy in the face of relatively large fixed simulation steps and the achievement of real-time and faster than real-time simulation execution. The results of numerical simulations, which show a relatively high accuracy and the gains in execution speeds obtained with various physical configurations, are also provided.
In this article, an impedance model following force control, which uses a position/orientation compensator based on joystick-taught data, is proposed for an industrial robot with an open architecture controller. The p...
详细信息
A method of construction of feedforward compensator is presented. The proposed feedforward compensator is based on the pole assignment regulator and conversion from closed loop system to open-loop system. Effectivenes...
详细信息
An adaptive navigation control problem is presented for a quadruped robot in cluttered environments by incorporating the capability of adaptive resonance theory (ART) in stable category recognition into the fuzzy logi...
详细信息
A method for the identification of complex nonlinear dynamics of a multi-link robot manipulator using Runge-Kutta-Gill neural networks (RKGNNs) in the absence of input torque information is proposed. The RKGNNs constr...
详细信息
Flexible motion of an industrial articulated robot arm is realized by using forcefree control, in which the flexible motion means that the robot arm is actuated by external force passively. Forcefree control enables t...
详细信息
As human on-off decisions are the basic problems in our human lives, the analysis of human on-off decision making is an interesting topic. The procedures of qualified human decision making include many intuitive facto...
As human on-off decisions are the basic problems in our human lives, the analysis of human on-off decision making is an interesting topic. The procedures of qualified human decision making include many intuitive factors which have been acquired from previous valuable experience and gained through learning, but they may not be easily understood by others within a short period. By the use of a database of causes and decisions made by qualified experts for an objective event, human decision making for that event can be realizable artificially. This paper investigates a general method for realizing artificial human on-off decision making based on the conditional probability of the database. As on-off decision making is a discrete event and the causes for that decision making are continuous events, a mathematical treatment of a Dirac delta function in a probability density function is required to derive the conditional probability for the decision making. Several examples of artificial human decision making by the proposed method were demonstrated, and the results obtained showed good agreement with those of human experts in the respective fields.
暂无评论