Learning control has been an active topic of research for several decades, and is of theoretical, as well as practical, significance. Current theories and developments in learning control are discussed. Following a br...
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The far-field intensity is detected from far-field image to estimate the piston distance between two gratings. The image processing algorithm includes projections along the horizontal and vertical directions, search f...
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This paper presents a novel closed-loop method for a multilink robotic fish to mimic the C-start maneuver, in which the turning speed and precision are emphasized. The turning speed is maximized by carefully designed ...
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In this paper an optimal motion generation approach for a heavy duty industrial robot, including both the control scheme and algorithm, was designed and tested. Aiming for the main defects in data sampling interpolati...
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In this paper an optimal motion generation approach for a heavy duty industrial robot, including both the control scheme and algorithm, was designed and tested. Aiming for the main defects in data sampling interpolation process of traditional motion control scheme, a FC based control scheme is proposed, An industrial computer with a TwinCAT real-time system was chosen as the motion control unit,and EtherCAT was used for command transmission. With the bask requirements of motion generation, a navel time and power optimal motion generation algorithm based on modified cubic spline interpolation is proposed. The execution time and work were chosen as the objective function. The constraints are the limits of torque, velocity and jerk. The position and velocity of the optimized motion were smooth. Acceleration was continuous throughout the execution period, including at the start point and end point Then the proposed control scheme and motion generation algorithm was applied for control of heavy duty material handling robots. The final experimental results showed that after obtaining motion parameters in an off-line stage, the computation of interpolation in Cartesian space could be finished very rapidly, within a short sample time (about four times the sample time of the position control loop). And the motion generation algorithm has a great effect on energy saving and production efficiency improvement.
A navigation system based on hybrid map for intelligent wheelchair is presented. The system is consisted of hybrid map building, localization, path planning and trajectory following. The hybrid map includes a series o...
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ISBN:
(纸本)9781612843865
A navigation system based on hybrid map for intelligent wheelchair is presented. The system is consisted of hybrid map building, localization, path planning and trajectory following. The hybrid map includes a series of small probabilistic grid maps (PGM) and a global topological map (GTM). They are built simultaneously and easily using the human-guided method. Then on the hybrid map, the localization and the real-time path planning algorithms are realized smartly and effectively. The experiments and applications results show that the human-guided method integrates both the computer’s modeling ability and the human’s sensory perception to the environment. The hybrid map is easy to solve the loop-closure and doorway problems that enhances the robustness against uncertainty of sensors. It also can improve the efficiency in large-scale SLAM. Further more, at an elderly home we did the activities of daily living (ADL) testing and at Shanghai Expo 2010 we demonstrated the wheelchair system by offering trial rides to visitors.
In this paper we study on haptic collaboration in a maze game over computer network. Two players located at separated places operate each haptic device to collaboratively finish the game task. Herein, a new collaborat...
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ISBN:
(纸本)9781612843865
In this paper we study on haptic collaboration in a maze game over computer network. Two players located at separated places operate each haptic device to collaboratively finish the game task. Herein, a new collaboration mode of manipulation – separate DOF control is proposed for the first time. Separate DOF control here means each player controls one DOF of an object or a task independently in collaborative virtual environment. Mutual guidance is also proposed which provides guidance force to each player. We setup an experiment to evaluate its efforts on cooperation performance and co-presence. Twelve participants did the experiment. The results revealed that this collaboration mode is effective. Ten of the twelve participants believed that they performed well in the experiment and thought the collaboration way was very interesting. The presented results motivated a new haptic collaboration mode in the fields of game design, education and cooperative assembly.
Towards complex indoor environment, this paper proposed a fusion method of sequential Mb-ICP scan matching for mobile robot map building. We firstly introduce the classic ICP scan matching method and its limitations f...
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Towards complex indoor environment, this paper proposed a fusion method of sequential Mb-ICP scan matching for mobile robot map building. We firstly introduce the classic ICP scan matching method and its limitations for dealing with robot rotation. Based on a new metric space, Mb-ICP scan matching approach is analyzed. We then use Kalman Filter to fuse multiple sequential scan matching results of Mb-ICP. Experimental results are shown to validate the effectiveness of the proposed approach.
This paper investigates the control algorithm of an exoskeleton for hand rehabilitation, which can realize the active, passive, and assisted rehabilitation motion. The active mode is accomplished with the force contro...
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This paper investigates the control algorithm of an exoskeleton for hand rehabilitation, which can realize the active, passive, and assisted rehabilitation motion. The active mode is accomplished with the force control algorithm during which the resistance is compensated in free space and the virtual interactive force is rendered to the finger in constraint space. The passive mode is realized by the position controller given the desired motion trajectory. The assisted mode is implemented in the customized positions by switching between the active and passive modes according to the predefined action procedure. The experiments are conducted to verify the proposed method, and the results show that the different rehabilitation motion are successfully accomplished and the maximum joint position error is less than 1.2 degree, which satisfies the requirement in hand rehabilitation application. The results demonstrate the validity of the proposed method.
Large load swing of a gantry crane,due to cable flexibility and rapid movement,needs to be ***,a wave-based approach interprets the cable motion as two superposed traveling *** combine position and active swing contro...
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Large load swing of a gantry crane,due to cable flexibility and rapid movement,needs to be ***,a wave-based approach interprets the cable motion as two superposed traveling *** combine position and active swing control, the trolley motion and load hoisting are carefully designed here,and a practical approach is adopted to design hoisting motions in the upward and downward manoeuvres,counteracting their reverse effects on the load swing.A robust control algorithm,based on the model of the crane system,is proposed to realize the trolley and hoisting motions,allowing for load variations and parameter *** new solution to motion control of a gantry crane works very well,and is stable and adaptive to large load *** demonstrated in the simulation experiments,it lands the load rapidly and exactly at target and stops it dead,with nearly zero swing.
Aiming at problems of the discrete optimization configuration and large search space in reconfigurable hydraulic robot configuration, an improved genetic algorithm was proposed to solve the difficulties in reconfigura...
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