检索结果-内蒙古大学图书馆

Robust control system for parallel kinematics robotic manipulator

IFAC-PapersOnLine 2018年第22期51卷 62-66页

作者： Dobriborsci, Dmitrii Kolyubin, Sergey Margun, Alexei ITMO University Faculty of Control systems and Robotics United States

This paper deals with the designing of robust trajectory tracking controller for parallel kinematics robotic manipulators that can be used for nonprehensile material handling and dynamic simulators in industrial and medical applications. The controller design is based on output control algorithm for structurally and parametrically uncertain systems called consecutive compensator. controller performance is verified for the task of moving a ball along circular reference trajectories. Only ball coordinates on a plane are measured, but not its velocities and accelerations, while noise in measurements is assumed to be serial uncorrelated with zero mean. Taking into account control magnitude constraints, we implemented an anti-windup correction for the control law. The experimental validation is performed by a parallel manipulator ball-and-plate with tactile feedback. © 2018

关键词： controllers

来源：评论

学校读者我要写书评

暂无评论

Design of versatile gripper with robust control

引用

IFAC-PapersOnLine 2018年第22期51卷 56-61页

作者： Borisov, Ivan I. Borisov, Oleg I. Gromov, Vladislav S. Vlasov, Sergey M. Dobriborsci, Dmitrii Kolyubin, Sergey A. Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

This paper presents a novel approach to the development of finger mechanisms for anthropomorphic grippers. The proposal approach allows to design a gripper finger that is able to break/reconnect a kinematic chain of the finger in order to change a degree of freedom, that will enable to choose between different operation modes of the grasping device. This approach can be used to create grippers for different tasks such industrial grippers as well as prosthesis. In this paper, the proposed approach was used to create our gripper named “UHVAT” (Usable Holding Versatile Adjustable Tool) for industrial tasks. The gripper consists of three fingers and a palm and equipped with four motors. The robust regulator was designed for positioning control of the motors. The control law includes cancellation of steady state error and anti-windup portions. © 2018

关键词： Grippers Adaptive control systems Degrees of freedom (mechanics) Industrial plants Industrial robots Kinematics Robust control Adaptive Grasping Anthropomorphic grippers Finger mechanisms Industrial automation Positioning control Robotic systems Steady state errors Versatile grippers

来源：评论

学校读者我要写书评

暂无评论

Model Predictive Torque control of Six-Phase Switched Reluctance Motors Based on Improved Voltage Vector Strategy

引用

IEEE Transactions on Transportation Electrification 2025年

作者： Yang, Yifei Sun, Xiaodong Dianov, Anton Demidova, Galina Prakht, Vladimir Wang, Yong Han, Shouyi Suzhou Vocational University School of Mechanical and Electrical Engineering Suzhou215104 China Jiangsu University Automotive Engineering Research Institute Zhenjiang212013 China Wenzhou University Pingyang Institute of Intelligent Manufacturing Wenzhou325035 China ITMO University Faculty of Control Systems and Robotics Petersburg197101 Russia Ural Federal University Department of Electrical Engineering Ekaterinburg620062 Russia Jiangsu University School of Electrical and Information Engineering Zhenjiang212013 China

To rapidly and accurately establish the model of switched reluctance motors (SRMs) and enhance torque control performance, this paper proposes a model predictive torque control (MPTC) strategy based on the optimized voltage vector. First, a fourth-order Fourier series is used to calculate the flux and torque models, and a complete nonlinear model of the SRM is constructed using the Kriging model. Second, the torque characteristics are used to divide the sectors, thereby reducing the number of candidate voltage vectors (CVVs) and effectively decreasing the computational burden of predictive control. Finally, an adaptive adjustment algorithm for the sector boundary angle is proposed, where the position of the sectors is determined based on variations in speed and load. The proposed method reduces torque ripple and enhances dynamic response capability. The effectiveness of this approach is validated through experiments on a 12/10 pole six-phase SRM prototype. © 2015 IEEE.

关键词： Vectors

来源：评论

学校读者我要写书评

暂无评论

Compensation control of PMSMs Based on a High-order Sliding Mode Observer with Inertia Identification

引用

IEEE Journal of Emerging and Selected Topics in Power Electronics 2025年

作者： Li, Ke Ding, Jie Sun, Xiaodong Lei, Gang Dianov, Anton Demidova, Galina Prakht, Vladimir Jiangsu University School of Electrical and Information Engineering Zhenjiang212013 China Jiangsu University Automotive Engineering Research Institute Zhenjiang212013 China University of Technology Sydney School of Electrical and Data Engineering NSW2007 Australia Wenzhou University Pingyang Institute of Intelligent Manufacturing Wenzhou325035 China ITMO University Faculty of Control Systems and Robotics Petersburg197101 Russia Ural Federal University Department of Electrical Engineering Ekaterinburg620062 Russia

This article proposes a new sliding mode control (NSMC) reaching law to improve the speed tracking and anti-interference performance of permanent magnet synchronous motors (PMSMs). The NSMC improves the sliding mode control (SMC) in approaching speed and reducing chattering. Firstly, considering that the external load interference will adversely affect the control system, a high-order sliding mode observer (HOSMO) is designed to observe the load torque, and the observed value is compensated to the output of the speed controller. Then, combined with the Landau algorithm, a variable adaptive gain algorithm is introduced to decrease the impact of inertia mismatch on the system control performance. The algorithm identifies the rotational inertia online, reduces the effect of load disturbance on the identification performance, and updates the identification results to the observation in processors and controllers. Experimental results show that the proposed control method reduces the speed and current fluctuations of the system when load torque and inertia vary and improves the system's robustness. © 2013 IEEE.

关键词： Permanent magnets

来源：评论

学校读者我要写书评

暂无评论

A concept for an intelligent and fault-tolerant robot system

引用

Journal of Intelligent and Robotic systems 1988年第3期1卷 259-286页

作者： Hörmann, A. Hugel, Th. Meier, W. Institute for Real-Time Computer Control Systems and Robotics Faculty of Informatics University of Karlsruhe Karlsruhe Germany

A concept for the intelligent control of subsystems of a flexible assembly cell is presented. Unknown or uncertain data about the real world may lead towards failure during an assembly task. Therefore, a fault tolerant system must be capable of reacting immediately to error situations. Thus, the major topic of this paper is the dynamic handling of unforeseen situations during realtime activities. This will be achieved by combining sensor guided actions with an advanced autonomous supervision system. Experimental results will be derived from the mobile two-arm robot system KAMRO of the Institute for Real-Time Computer control systems and robotics, University of Karlsruhe, Federal Republic of Germany. © 1988 Kluwer Academic Publishers.

关键词： Computer control systems

来源：评论

学校读者我要写书评

暂无评论

AN ACTION-BASED PROCESS MODEL FOR DEXTEROUS MULTIFINGER HANDS

引用

JOURNAL OF INTELLIGENT & ROBOTIC systems 1991年第3期4卷 201-219页

作者： WOHLKE, G BRAUN, T 1. Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe 7500 Karlsruhe Germany

In this article, the development of an action-based process model is described which was especially tailored to the needs of modelling and simulating multifinger hands. The research has been concerned with a description technique using constraints for modelling the working environment and with the design of an appropriate process model for simulating complex movements of manipulation objects with multifinger hands. The paper presents the results of an object-oriented approach to the proposed model and consists of two parts: a constraint net that describes the connections and relations between cell components (robots, grippers, objects) in the working environment and a propagation algorithm that computes the new locations regarding the modifications and logical dependencies.

关键词： SYSTEM SIMULATION PROCESS MODEL CONSTRAINT NET PROPAGATION ALGORITHM OBJECT-ORIENTED PROGRAMMING

来源：评论

学校读者我要写书评

暂无评论

Robust energy aware output controller for uncertain plant

引用

IFAC-PapersOnLine 2019年第13期52卷 259-264页

作者： Dobriborsci, Dmitrii Margun, Alexey Kolyubin, Sergey Control systems and Robotics faculty ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

Nowadays, safety guarantee during physical Human-Robot Interaction (pHRI) is important problem. control over energy becomes very useful approach and provides possibility of safety conditions implementation but requires measurement of energy variables. In this paper we extend our previous results for discrete robust output control algorithm by insertion of energy aware mechanism in the structure of control system. It is proven earlier that this way make the controller aware of the energy that they inject into the plant. By combining this approaches we introduce here a robust discrete-time output controller for uncertain plant that provides exponential convergence of tracking error to the bounded area and passivity of the closed loop system. The proposed approach is validated through simulation and experiments using Ball-and-Plate setup. © 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： controllers Budget control Closed loop systems Human robot interaction Man machine systems Plates (structural components) Power management Robust control Energy aware Energy budgets Exponential convergence Output controllers Passive systems Physical humanrobot interaction (phri) Safety guarantees Uncertain plants

来源：评论

学校读者我要写书评

暂无评论

Robust control system for parallel kinematics robotic manipulator

Robust control system for parallel kinematics robotic manipu...

引用

作者： Dobriborsci, Dmitrii Kolyubin, Sergey Margun, Alexei ITMO University Faculty of Control systems and Robotics United States

关键词： Robust control

来源：评论

学校读者我要写书评

暂无评论

Trust Consensus Protocol for Heterogeneous Underwater Robotic systems

引用

IFAC-PapersOnLine 2016年第23期49卷 341-346页

作者： Mazdin, Petra Arbanas, Barbara Haus, Tomislav Bogdan, Stjepan Petrovic, Tamara Miskovic, Nikola University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Underwater Systems and Technologies Croatia

In this paper we analyze the application of a binary trust-consensus protocol in multi-agent systems with switching communication topology. Trust represents belief of one agent that the other one is capable of executing a specific task. The approach is motivated by an underwater robot system in which robots, called aMussels, are dispersed in the environment and measure environmental properties (for example sea-current) over a longer period of time, with sensors which are prone to failures. The goal is to apply the binary trust-consensus protocol to enable the system to autonomously detect failures of aMussels. Since direct communication between aMussels is energy consuming, a new type of moving robot, called aFish, is introduced that serves as a carrier of information. Since aFish have a limited communication range, communication topology is switching. Simulations are run first in Matlab for a homogeneous system, and then in a realistic simulation environment for the described scenario with heterogeneous agents. Results show that the protocol converges to the correct trust values and that the convergence time depends on the connectivity of the communication graph. © 2016

关键词： Multi agent systems MATLAB Robots Topology Communication graphs Communication topologies Direct communications Environmental property Heterogeneous multi agent systems Limited communication range Switching topology trust consensus

来源：评论

学校读者我要写书评

暂无评论

Development of the Design of the Sensor and the Elements of Software Data Processing of the Dynamic Indentation Device 6

Development of the Design of the Sensor and the Elements of ...

引用

6th International Scientific Conference on Information, control, and Communication Technologies, ICCT 2022

作者： Kolganov, Oleg Egorov, Roman Ilyinsky, Alexander Khoshev, Alexander Kinzhagulov, Igor Fedorov, Alexey Itmo University Faculty of Control Systems and Robotics ST Petersburg Russia

ISBN: (数字)9781665493673

ISBN: (纸本)9781665493673

In this paper, the question of the possibility of using the magnetic induction method with differential inclusion of inductors for recording the motion parameters of a striker during dynamic indentation is considered. A prototype of the primary transducer is presented. A computer model has been developed for recording the movement of the striker during the flight and the sinusoidal movement of the magnet inside the coil. Experimental testing and comparative analysis of the results of computer simulation and experimental testing have been carried out © 2022 IEEE.

关键词： Data handling

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：