This paper investigates the consensus tracking problem for networkedcontrolsystems consisting of multiple simplependulums driven by corresponding DC motors.A distributed adaptive consensus control algorithm is devel...
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ISBN:
(纸本)9781509009107
This paper investigates the consensus tracking problem for networkedcontrolsystems consisting of multiple simplependulums driven by corresponding DC motors.A distributed adaptive consensus control algorithm is developed to guarantee the state tracking for each simple-pendulum with nonlinear *** dynamic model of networked simple-pendulums driven by DC motors is obtained first,and the mathematical description of consensus tracking control problem for multi-agent system is ***,fully distributed consensus tracking protocol without any global information is designed by using adaptive control technology to adjust the coupling weights between neighboring ***,simulation results demonstrate the effectiveness of the proposed consensus tracking control algorithm.
The one of the most important foundations of micro-manipulation is the micro- and nano- displacement's accurate measurement. This paper focused on the end effectors measurement for a nano-manipulation robot, which...
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The accuracy of the Autonomous Underwater Vehicles (AUVs) navigation system determines whether they can safely operate and return. Traditional Dead-reckoning (DR) relies on the inertial sensors such as gyroscope and a...
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ISBN:
(纸本)9781450346375
The accuracy of the Autonomous Underwater Vehicles (AUVs) navigation system determines whether they can safely operate and return. Traditional Dead-reckoning (DR) relies on the inertial sensors such as gyroscope and accelerometer. A major challenge for DR navigation is from measurement error of the inertial sensors (gyroscope, accelerometer, etc.), especially when the AUV is near or at the ocean surface. The AUV's motion is affected by ocean waves, and its pitch angle changes rapidly with the waves. This rapid change and the measurement errors will cause great noise to the direction measured by gyroscopes, and then lead to a large error to the DR navigation. To address this problem, a novel DR method based on neural network (DR-N) is proposed to explore the time-varying relationship between acceleration measurement and orientation measurement, which leverages acoustic localization and neural network estimate timely pitch angle through the explored time-varying relationship. This method enables AUV's DR navigation with a single acceleration, without relying on both acceleration and gyroscope. Most importantly, we can improve the accuracy of AUV navigation through avoiding DR errors caused by gyroscope noise at the sea surface. Simulations show DR-N significantly improves navigation accuracy.
The traditional iterative learning control(ILC) algorithm improves the control performance by updating the control input to implicitly compensate the periodic *** order to enhance the convergence rate of ILC,a new con...
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ISBN:
(纸本)9781467397155
The traditional iterative learning control(ILC) algorithm improves the control performance by updating the control input to implicitly compensate the periodic *** order to enhance the convergence rate of ILC,a new concept,iterative extended state observer(IESO),is presented which can estimate explicitly the periodic uncertainties during the process of iterations and be used to update the control input *** explicit estimation of the uncertainty by the linear IESO in the iteration domain is used to construct a new ILC algorithm based on active disturbance rejection(ADR).The ADR-based ILC algorithm and its corresponding theorem are given in detail and proven by using Lyapunov-like *** results verify the effectiveness of the proposed ILC algorithm,and the iterative learning efficiency is improved greatly by using ADR-based ILC algorithm.
-in this paper,a design method of optimal proportionalintegral(PI) controller with dead-zone link is presented for loworder processes with time ***-loop system is the nonlinear control system with the dead-zone *** fe...
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ISBN:
(纸本)9781467397155
-in this paper,a design method of optimal proportionalintegral(PI) controller with dead-zone link is presented for loworder processes with time ***-loop system is the nonlinear control system with the dead-zone *** feedback system can be equivalently transformed into the linear switch system(LSS) or autonomous switch system(ASS).The optimal control problem is equivalently transformed into nonlinear constraint optimization(NLCO) problem via common Lyapunov functions(CLF) theorem and Lyapunov ***,optimal PI controller can be obtained by solving the NLCO *** results show effectiveness and usefulness of the proposed design method.
This paper presents the integration of a soft robot with optical fiber based proximity sensor which is designed for beating heart tracking in minimally invasive surgery (MIS). This cable-driven soft robot, made of sil...
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ISBN:
(纸本)9781509033300
This paper presents the integration of a soft robot with optical fiber based proximity sensor which is designed for beating heart tracking in minimally invasive surgery (MIS). This cable-driven soft robot, made of silicone rubber, is low cost, lightweight, sterilizable and compatible for magnetic resonance (MR) environment. During non-contact and contact situation of robot manipulation, there is a phase where sensory information (force or image) is missing. Our proximity sensor system is designed to solve this problem. The proximity sensor, a 4-point sensor array, uses 4 pairs of emitter and receiver optical fibers to measure the light intensity of surrounding environment. The 4-point sensor array is mounted on the 10 mm diameter soft robot tip, with channels inside its body where cameras and surgical instruments could be integrated into. It is the first time using proximity sensor to control the motion of soft robot in beating heart surgery for the tracking task. A distance calibration model is built before the tracking experiment. Employing a position control method with gravity compensation, experiment is conducted and test results have shown the validity of our controller and system.
In order to operate various constrained mechanisms with assistive robot manipulators, an interactive control algorithm is proposed in this paper. This method decouples motion and force control in the constrained frame...
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In order to operate various constrained mechanisms with assistive robot manipulators, an interactive control algorithm is proposed in this paper. This method decouples motion and force control in the constrained frame, and modifies the motion velocity online. Firstly, the constrained frame is determined online according to previous motion direction; then the selection matrix is adjusted dynamically, the constrained motion direction is chosen as the driving-axis. Consequently, the driving-axis and non-driving-axis are decoupled; finally, velocity control and impedance control are implied on above axes respectively. The selecting threshold for driving-axis is also varying dynamically to fit different constrained mechanism. Door-opening experiments are conducted to verify the performance of the proposed method.
The online detection of end-effector motion states and wafer stick-slip on a wafer transfer robot is crucial in accessing the quality of trajectory planning and improving the performance of robotic control system. Thi...
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ISBN:
(纸本)9781509023974
The online detection of end-effector motion states and wafer stick-slip on a wafer transfer robot is crucial in accessing the quality of trajectory planning and improving the performance of robotic control system. This paper presents a new integrated system for detecting end-effector motion states (position and velocity) and wafer stick-slip on a wafer transfer robot. The system mainly contains a custom-built position-sensing-detector (PSD) camera, an inertial module and a tactile sensor. The end-effector position measurement is achieved by the PSD camera, and the end-effector velocity is estimated by using a kinematic Kalman filter (KKF). The KKF fuses the outputs from the PSD camera and the inertial sensor with a tri-axis accelerator and a tri-axis gyroscope. The wafer stick-slip detection is built on the measurements of the electromagnetic-based tactile sensor. The experimental results show that the integrated system is capable of measuring the position with a repeatability of ± 0.023mm along the X-axis and ± 0.017mm along the F-axis, remarkably improving the accuracy of velocity measurement, and online detecting wafer stick-slip on the wafer transfer robot.
An obstacle detection method is proposed based on binocular stereo vision for manipulator. Firstly, images are preprocessed after camera calibration such as graying and distortion correction. Then, aiming at the defec...
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An obstacle detection method is proposed based on binocular stereo vision for manipulator. Firstly, images are preprocessed after camera calibration such as graying and distortion correction. Then, aiming at the defect that feature points are extracted mixed with many edge response points by traditional SIFT(Scale Invariant Feature Transform) algorithm, we propose wavelet transform to extract the edge points, and compare the edge points with feature points to further eliminate unstable feature points. Finally, the effectiveness of the algorithm is verified by obstacle detection and obstacle avoiding experiments. The results demonstrate that the improved SIFT algorithm can remove the edge responses that the DOG operator generates effectively, and improve the stability and anti-noise ability of SIFT algorithm compared with traditional SIFT algorithm.
Joint mechanism is a key factor for a snake robot adjusting its postures adapted to clutter environments in search and rescue *** joint mechanisms in prior research simply consist of serially connected revolute joints...
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ISBN:
(纸本)9781509009107
Joint mechanism is a key factor for a snake robot adjusting its postures adapted to clutter environments in search and rescue *** joint mechanisms in prior research simply consist of serially connected revolute joints,which are lack of great load carrying *** nature snake structure,a modular bionic parallel joint mechanism(BPJM) is proposed for the rescue snake *** analysis of the BPJM is necessary for its optimal design and control,providing the force and constraint that must be resisted by joints,links and *** reduce the dynamics computation load,Newton equation and Euler equation are combined by synchronizing the inertial force and inertial moment with the aid of screw ***,the dynamics equations for moving platform and links are formulated in a simplified *** friction at the joints and external force acting on BPJM,which actually affect the motion,are both considered in the ***,the virtual prototype is provided in order to visualize the joint mechanism and the numerical results from the dynamics analysis are given.
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