检索结果-内蒙古大学图书馆

SICE Annual Conference

作者： D. Kushida M. Nakamura S. Goto N. Kyura Venture Business Laboratory Saga University Honjomachi Saga Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Honjomachi Saga Japan Department of Electrical and Electronic Engineering Kinki University Kyushu Japan

ISBN: (纸本)0780376315

Force-free control with velocity consideration under the assigned locus is proposed for an articulated robot arm. The tip of the robot arm is moved on an objective locus according to the tip velocity. Then, the direction of the tip velocity, which corresponds to the exerted force, is modified to the tangential direction of the assigned locus. The contouring work of an articulated robot arm is, therefore, carried out with a force-free control. The effectiveness of the proposed force-free control is assured by simulation and experimental work on a two-degree-of-freedom articulated robot arm. Applications of the force-free control with an assigned locus are also discussed.

关键词： Force control Velocity control Robot control Robot kinematics Weight control Service robots Servomechanisms Orbital robotics Motion control Friction

来源：评论

学校读者我要写书评

暂无评论

GLOBAL controlLER OPTIMIZATION USING HOROWITZ BOUNDS

引用

IFAC Proceedings Volumes 2002年第1期35卷 247-252页

作者： Carl-Magnus Fransson Bengt Lennartson Torsten Wik Kenneth Holmström Michael Saunders Per-Olof Gutman Control and Automation Laboratory Department of Signals and Systems Chalmers University of Technology Sweden Center for Mathematical Modeling Department of Mathematics and Physics Mälardalen University Västerås Sweden Systems Optimization Laboratory Department of Management Science and Engineering Stanford University Stanford CA USA Faculty of Agricultural Engineering Technion Haifa Israel

A procedure for global optimization of PID type controller parameters for SISO plants with model uncertainty is presented. Robustness to the uncertainties is guaranteed by the use of Horowitz bounds, which are used as constraints when low frequency performance is optimized. The basic idea of both the optimization and the parameter tuning is to formulate separate criteria for low, mid and high frequency closed loop properties. The trade-off between stability margins, high frequency robustness and low frequency performance is then elucidated and, hence, the final choice of parameters is facilitated. The optimization problems are non-convex and ill-conditioned and we use a combination of new global and standard local optimization algorithms available in the TOMLAB optimization environment to solve the problem. The method does not rely on a good initial guess and converges fast and robustly. It is applied to a controller structure comparison for a plant with an uncertain mechanical resonance. For a given control activity and stability margin as well as identical tuning parameters it is shown that a PID controller achieves slightly improved low frequency performance compared to an ℋ ∞ controller based on loop-shaping. The reason for this somewhat surprising result is the roll-off in the ℋ ∞ controller, which adds additional high frequency robustness compared to the PID controller. Computationally, a factor of 10–20 has been gained compared to an earlier, less general, version of the procedure.

关键词： ℋ ∞ PID global optimization Horowitz bounds performance robustness

来源：评论

学校读者我要写书评

暂无评论

A method for analyzing parallel mechanism stiffness including elastic deformations in the structure

A method for analyzing parallel mechanism stiffness includin...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Woo-Keun Yoon T. Suehiro Y. Tsumaki M. Uchiyama Intelligent Systems Institute National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba Japan Faculty of Science and Technology Hirosaki University Hirosaki Japan Department of Aeronautic and Space Engineering Tohoku University Sendai Japan

In this paper, we present a method for analyzing parallel mechanism stiffness including elastic deformations in the structure. In our previous works, we developed a compact 6-DOF haptic interface as a master device which achieved an effective manual teleoperation. The haptic interface contains a modified Delta parallel-link positioning mechanism. Parallel mechanism is usually characterized by a high stiffness, however, it is reduced by elastic deformations of both parts and bearings. Therefore, to study such a parallel mechanism, we analyzed stiffness in a parallel mechanism, including elastic deformation of both parts and bearings. Key points of our method are a modeling of bearings, a modeling of a elasticity coefficient of a passive axis in a bearing and a modeling of a parallel mechanism. Finally, we show that our stiffness analysis method of a parallel mechanism is high reliability and precision.

关键词： Haptic interfaces Space technology Elasticity Intelligent systems Intelligent structures Aerospace industry Manuals Orbital robotics Couplings

来源：评论

学校读者我要写书评

暂无评论

AUTOMATIC FUZZY RULE GENERATION IN A BIOTECHNOLOGICAL PROCESS

引用

IFAC Proceedings Volumes 2002年第1期35卷 397-402页

作者： M.J. Fuente G. I. Sainz Palmero D. Pindado Department of Systems Engineering and Control. Faculty of Science University of Valladolid. Prado de la Magdalena s/n 47011 Valladolid Spain ETSII. University of Valladolid. Paseo del Cauce s/n 47011 Valladolid Spain

This paper deals with the modeling of a biotechnological process from input-output data. A simple fuzzy-neural network is utilized to obtain a non-linear model of a wastewater plant. The fuzzy curves are utilized in order to know the significant input variables, the number of rules to model the system and the set of initial weights in the fuzzy neural network model. From the point of view of neural networks the model has weights to be trained from input output data and from the view point of fuzzy logic the model is a set of rules to explain the behaviour of the system.

关键词： Fuzzy rules neurofuzzy systems modeling wastewater plant

来源：评论

学校读者我要写书评

暂无评论

Actuator Arrangement and Mortion Form of Vertebrate Leg

引用

Journal of Robotics and Mechatronics 2002年第3期14卷 262-269页

作者： Oshima, Toru Fujikawa, Tomohiko Kumamoto, Minayori Department of Mechanical Systems Engineering Faculty of Engineering Toyama Prefectural University Kurogawa 5180 Kosugi Toyama939-0398 Japan Department of Electronic Control Engineering Toyama National College of Maritime Technology Ebie Neriya 1-2 Shinminalo Toyama933-0293 Japan Laboratories of Image Information Science and Technology Hongo 5-26-4 Bunkyo Tokyo113-0033 Japan

We clarified the relationship between the arrangement and the motion of actuators (muscles), corresponding to the drive system for vertebrate legs, including those of the human, planning to apply our results to robot drive systems. To do so, we anatomically compared muscular arrangements of plantigrade animals, such as humans and gorillas, and unguligrade animals, such as horses and deers,and amphibious jumping vertebrates, such as frogs. We analytically clarified distinctive functional features at the link end constituted by the differences in muscular arrangement by a robotic engineering method with a 2-joint link model. We found that muscular arrangement features are greatly involved in output and stiffness at the link end and reflect features of motion in each group of animals. We studied feasible application of the drive system by verifying its effects in muscular arrangement to make the drive system practical. © 2002, Fuji Technology Press. All rights reserved.

关键词： Animals

来源：评论

学校读者我要写书评

暂无评论

control of Elasticity and Trajectory of Robot Arm with Redundant Actuators

引用

Journal of Robotics and Mechatronics 2002年第3期14卷 253-261页

作者： Oshima, Toru Fujikawa, Tomohiko Kumamoto, Minayori Department of Mechanical Systems Engineering Faculty of Engineering Toyama Prefectural University Kurogawa 5180 Kosugi Toyama939-0398 Japan Department of Electronic Control Engineering Toyama National College of Maritime Technology Ebie Neriya 1-2 Shinminato Toyama933-0293 Japan Laboratories of Image Information Science and Technology Hongo 5-26-4 Bunkyo Tokyo113-0033 Japan

In mechanical joints applied to robot arms, one actuator is generally required to drive one joint. For the drive of joints on the musculoskeletal system of animal limbs, in which musculi skeleti are used as actuators, there is a pair of bi-articular muscles for driving two joints simultaneously in addition to a pair of monoarticular muscles. By our study with a simple arm model having a 2 degrees of freedom for two joints, the relationship between the compliances of antagonistic muscless at a joint (the muscle coordinate system) and the elastic ellipse at the end of arm (the task coordinate system) has been clarified in connection with the adjustment of the trajectory at the end of arm, which belongs to the task coordinate system, when the bi-articular muscles are made available and when they are made un-available for comparison. The effect of the bi-articular muscles has thus been proved. Then the fact that the trajectory of the arm can be adjusted by means of both an elastic ellipse and the force at the end of the arm has also been clarified. To verify the above, a 2 degrees of freedom robot arm has been adopted. This arm is equipped with two joints having (3-pairs,6-muscles) pneumatic rubber artificial muscles used as actuators. © Fuji Technology Press Ltd.

关键词： Elasticity

来源：评论

学校读者我要写书评

暂无评论

Coordination control of Arm Using Antagonistic Actuators

引用

Journal of Robotics and Mechatronics 2002年第3期14卷 270-277页

作者： Oshima Oshima, Toru Fujikawa, Tomohiko Kumamoto, Minayori Department of Mechanical Systems Engineering. Faculty of Engineering. Toyama Prefectural University Kurogawa 5180. Kosugi. Toyama939-0398 Japan Department of Electronic Control Engineering. Toyama National College of Maritime Technology Ebie Neriya 1-2 Sinminato Toyama933-0293 Japan Laboratory of Image Information Science and Technology Hongo 5-26-4 Bunkyo Tokyo113-0033 Japan

In a mechanical joint drive used in robot arms, 1 actuator drives each joint. To drive joints in musculoskeletal animal limbs, in which skeletal muscles are used as actuators, a pair of bi-articular muscles drives 2 joints simultaneously in addition to a pair of monoarticular muscles for driving 1 joint. In our study, the mutual coordination of antagonistic mono-articular and antagonistic bi-articular muscles in in the horizontal arm plane were examined using electromyogram, results were analyzed by a mechanical 2-joint link model, and the relationship between the pattern of coordination of antagonistic muscles and output force generated by the arm clarified. A neural network model that generates the pattern of coordination was proposed to clarify the difference between conventional robots and animals in the force control mode for limbs. © 2002, Fuji Technology Press. All rights reserved.

关键词： Neural network models

来源：评论

学校读者我要写书评

暂无评论

Acquisition of exercise skill represented by fuzzy control rules for a rings gymnastic robot

Acquisition of exercise skill represented by fuzzy control r...

引用

IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)

作者： T. Yamada K. Watanabe K. Kiguchi K. Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Honjomachi Saga Japan

We have focused on rings that are one event of men's apparatus gymnastics. The ring exercises have the characteristics that the apparatus can move in all directions freely unlike horizontal bar exercises that have the constraint between hands and the horizontal bar. Realizing the robot that performs rings practically, we can expect a contribution to the coaching. Therefore we have already proposed the "rings gymnastic robot" that performs gripping the rings suspended by a rope. In this paper, our goal is to acquire an exercise skill represented by fuzzy control rules. A backward giant circle from handstand to handstand is selected as the exercise to simulate. The skill to realize the exercise is obtained by a genetic algorithm, in which an evaluation method using five subgroups with independent evaluation is introduced.

关键词： Fuzzy control Robots Motion control Genetic algorithms Motion analysis Biomechanics control engineering Mechanical engineering Performance evaluation Humans

来源：评论

学校读者我要写书评

暂无评论

An Upper Drive-Active Dual-Wheel Caster Assembly and its Application for Constructing Holonomic and Omnidirectional Platform

引用

IFAC Proceedings Volumes 2001年第19期34卷 405-410页

作者： Xin Yang Keigo Watanabe Kiyotaka Izumi Kazuo Kiguchi Faculty of Engineering Systems and Technology Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502. Japan.

A new mechanical upper-drive active dual-wheel caster assembly is developed and two types of holonomie and omnidirectional mobile robots which utilize this caster assembly are discussed in this paper. The new active caster assembly is equipped with two standard tires as its driving wheels. Two motors are mounted on the upper frame to drive each wheel independently through a series of gears and a belt. In this structure, the lower frame can steer arbitrary angles referred to the upper frame without any wiring problem, which inhibits practical application of the previous normal active dual-wheel caster assembly. The new active caster assembly is used to construct two types of holonomie and omnidirectional mobile robots. One is a conventional structure, and the other is a synchro-drive system. The kinematic models of the new active caster assembly and two types of mobile robots are derived and the characteristics of these two holonomic and omnidirectional mobile robots are illustrated by computer simulations using resolved velocity control.

关键词： Holonomie and omnidirectional mobile robot Active dual wheel caster assembly Synchro-drive system. Kinematic model Resolved velocity control

来源：评论

学校读者我要写书评

暂无评论

A novel modular neuro-fuzzy controller driven by natural language commands

A novel modular neuro-fuzzy controller driven by natural lan...

引用

SICE Annual Conference

作者： K. Pulasinghe K. Watanabe K. Kiguchi K. Izumi Faculty of Engineering Systems and Technology Graduate School of Science and Engineering Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Honjomachi Saga Japan

A method of interpreting imprecise natural language commands to machine understandable manner is presented in this paper. The proposed method tries to ease the process of man-machine interaction by combining the theoretical understanding of artificial neural networks and fuzzy logic. Both fields are very popular to mimic the human behavior in different research areas in artificial intelligence. The proposed system tries to understand the natural language command rather than mere recognition. The distinctive features of the artificial neural networks in pattern recognition and classification and the abilities of manipulating imprecise data by fuzzy systems are merged to recognize the machine sensitive words in the natural language command and then to interpret them to machine in machine identifiable manner. Modularity of the design tries to break up the complete task into manageable parts where the presence of individual part is vital to bridge the so-called man-machine gap.

关键词： Natural languages Artificial neural networks Man machine systems Fuzzy systems Fuzzy control Humans Pattern recognition control systems Natural language processing Machine control

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：