检索结果-内蒙古大学图书馆

作者： Yang, Jiangzhao Li, Zexiang Wang, Hong Lou, Yunjiang Long, Zhili Division of Control and Mechatronics Engineering Shenzhen Graduate School Harbin Institute of Technology Xi Li Shenzhen 518055 China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong

ISBN: (纸本)9781612847009

In the tasks of contour following, two important issues are required to be concerned. They are the real-time contour error estimation and compensation. Recent research shows that the accuracy of real-time contour error estimation can be improved by the approach of circular approximation. However, in such an approach, the estimated contour error is calculated from the artificial moving coordinate frame and has to be transformed back to the fixed coordinate frame for compensation. In this paper, an approach to estimate and compensate the real-time contour error based on the global fixed coordinate frame is proposed. In this method, the real-time contour error can be obtained from the tracking error decomposition to the global fixed coordinate frame via a projection map. Based on this estimation, direct contour error compensation will be performed with respect to the global fixed coordinate frame through modifying the reference position inputs. Experiments show that the estimation accuracy of the direct tracking error decomposition is the same as that of the circular estimation and the tracking performance of the contouring system is evidently improved after the compensation. © 2011 IEEE.

关键词： Error compensation

来源：评论

学校读者我要写书评

暂无评论

Tracking control with hysteresis compensation for manipulator segments driven by pneumatic artificial muscles

Tracking control with hysteresis compensation for manipulato...

引用

2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

作者： Schreiber, Frank Sklyarenko, Yevgen Schlüter, Kathrin Schmitt, Jan Rost, Sven Raatz, Annika Schumacher, Walter Institute of Control Engineering Technische Universität Braunschweig 38106 Braunschweig Germany Institute of Machine Tools and Production Technology Technische Universität Braunschweig 38106 Braunschweig Germany National Technical University Donetsk Department of Control Systems and Mechatronics 83000 Donetsk Ukraine

ISBN: (纸本)9781457721373

In this paper a feedforward control structure is introduced for a manipulator joint driven by a symmetrical arrangement of two antagonistic muscles. The setup allows the specification of the desired joint angle, as well as the single muscle forces. Based upon the manipulator kinematic and the inverse static relation in a single muscle, the pressure signal for the muscles' supplying valves is calculated. Applying this control structure allows to compensate the nonlinear characteristic mean relation in a single muscle actuator, while the muscles' hysteretic behavior introduces a hysteresis in the relation between the desired and the actual joint angles. It is shown, that if the muscles are subject to comparable forces the resulting hysteretic behavior can be described by a Preisach model. The inverse of this model can then be applied as a feedforward term to compensate the static hysteretic behavior. Experiments confirm the improvement in tracking control as compared to the system solely controlled by a feedback regulator. © 2011 IEEE.

关键词： Muscle

来源：评论

学校读者我要写书评

暂无评论

Tracking control of Mobile Robot Using ANFIS

Tracking Control of Mobile Robot Using ANFIS

引用

2011 IEEE International Conference mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Masoud Imen Mohammad Mansouri Mehdy Aliyari Shoorehdeli Department of Mechatronics Engineering Science and Research Branch Islamic Azad universityTehran Department of Control Engineering Khajeh Nasirodin Toosi University of Technology Tehran Iran Department of Mechatronics Engineering Khajeh Nasirodin Toosi University of Technology Tehran Ira

This study addresses a nonlinear trajectory tracking control problem for a kinematics Model of nonholonomic mobile robot with considering next 2 time path curvature. The tracking control of mobile robot using two cascade controllers is presented. The first fuzzy controller produces a variable which shows curvature of the path and is considered as one of the inputs of the second fuzzy controller. Adaptive Neuro Fuzzy Inference System (ANFIS) is applied as second stage controller for the solution of the path tracking problem of mobile robots. The inputs value to fuzzy logic layer are Vc, C, dR & d6 the robot current linear velocity, trajectory curvature, distance from the robot actual position to the next desired position, and difference between the angles of the d6 and the robot actual heading, respectively. A gradient descent learning algorithm is used to adjust the parameters. That present controller is compared with previous work to confirm its effectiveness.

关键词： Fuzzy controller ANFIS Cascade controller Tracking control Look-ahead Curvature.

来源：评论

学校读者我要写书评

暂无评论

Advanced service robotics for human assistance and support

Advanced service robotics for human assistance and support

引用

2011 International Conference on Advanced Computer Science and Information Systems, ICACSIS 2011

作者： Fukuda, Toshio Di, Pei Chen, Fei Sekiyama, Kousuke Huang, Jian Nakajima, Masahiro Kojima, Masaru Department of Micro-Nano Systems Engineering Nagoya University Furo-cho Chikusa-ku Nagoya 464-8603 Japan Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei 430074 China Center for Micro-nano Mechatronics Nagoya University Furo-cho Chikusa-ku Nagoya 464-8603 Japan

ISBN: (纸本)9789791421119

There are growing demands on robotics and automation in the service sector for many years due to the age quake, silver society and man power shortage. Now that robotics is so advanced with sensor, actuator and computational intelligence along with the CPU development, it is expected to make much wider applications to service sector. Some are good for robot to be more intelligent and more effective. In this presentation, the robotics and automation is overviewed for the sake of human assistance and supports. Then there have been so many attempts to make robots more friendly and usable to human and some showed very successful results in bio-medicine field, material flow and daily life. Firstly, the "intelligent cane system" is presented as one of the examples of advanced service robotics systems. Secondary, a model for assembly strategy generation and selection for human and robot coordinated (HRC) cell assembly by a Dual Generalized Stochastic Petri Net (GSPN) model is discussed within the field of human and robot coordinated (HRC) cell assembly. From these applications, it turned out to be much more important for human service sector such that advanced robotics and automation system in this domain should have more cognitive functions as human intention estimation explicitly. © 2011 Universitas Indonesia.

关键词： Petri nets

来源：评论

学校读者我要写书评

暂无评论

Parametric Model-Order Reduction in Hierarchical Multiobjective Optimization of Mechatronic Systems *

引用

IFAC Proceedings Volumes 2011年第1期44卷 12611-12619页

作者： Martin Krüger Katrin Witting Ansgar Trächtler Michael Dellnitz Heinz Nixdorf Institute Control Engineering and Mechatronics University of Paderborn Paderborn Germany Department of Mathematics Chair of Applied Mathematics University of Paderborn Paderborn Germany

Abstract For complex mechatronic systems it is convenient to modularize the system into a hierarchical structure. Especially for self-optimizing systems hierarchies can be used to reduce the complexity. Such systems have an extensive information processing, because they adapt their behavior to varying system and environment conditions in an autonomous way. In this paper we present a parametric model-order reduction based on multi-moment matching that is used to simplify hierarchical models. By this procedure the execution of a hierarchical multiobjective optimization is fastened. We compare our hierarchical approach with a multiobjective optimization of a non-reduced model for an active suspension system. A good approximation of both the Pareto sets and Pareto fronts is obtained by our approach.

关键词： parametric model reduction hierarchical multiobjective optimization hierarchical structures hierarchically intelligent control multi-moment matching self-optimization

来源：评论

学校读者我要写书评

暂无评论

Design and simulation of a novel planar switched reluctance generator

Design and simulation of a novel planar switched reluctance ...

引用

International Conference on Power Electronics Systems and Applications (ICPESA)

作者： J. F. Pan C. C. Sun Guang-zhong Cao Norbert. C. Cheung College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Electrical Engineering Department Hong Kong Polytechnic University Hong Kong China

A novel two-dimensional (2D) direct-drive generator based on switched reluctance principle is proposed in this paper. Due to its unique structure, the device is considered as a 2D power generator for sustainable energy utilization such as wind and wave energy with multidimensional motion forms. The generator has the advantages of simple structure and elimination of mechanical gears and rotary-to-linear motion converters. In this paper, a three dimensional (3D) mechanical model of this generator is designed and finite element analysis (FEA) is applied to simulate the model. From the simulation results, the coupling effect between each direction of power generation is negligible and each phase can be controlled independently. It is expected that the planar switched reluctance generator (PSRG) finds its potential applications in energy utilization area.

关键词： Stators Force Inductance Propulsion Couplings Generators Reluctance motors

来源：评论

学校读者我要写书评

暂无评论

Design and optimization for the linear switched reluctance generator

Design and optimization for the linear switched reluctance g...

引用

International Conference on Power Electronics Systems and Applications (ICPESA)

作者： J. F. Pan Yu Zou Norbert. C. Cheung Guang-zhong Cao College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Electrical Engineering Department Hong Kong Polytechnic University Hong Kong China

In this paper, a novel double-sided direct-drive linear generator based on switched reluctance principle is proposed. In order to acquire a higher power density, the optimization of structure parameters for the double-sided linear switched reluctance generator (DLSRG) is carried out. To observe the nonlinear phenomena in SR generator, two dimensional (2D) magnetic static field distributions is obtained. For imitation of real-time operation, transient magnetic field is analyzed by finite element method (FEM). Then through a series of simulation and analysis, a group of appropriate parameters for the DLSRG are obtained. It is expected that the novel direct-drive generator finds its applications in power conversion fields such as wave power utilization.

关键词： Optimization Stators Energy conversion Magnetic circuits

来源：评论

学校读者我要写书评

暂无评论

Linear Quadratic Regulator (LQR) approach for lifting and stabilizing of two-wheeled wheelchair

Linear Quadratic Regulator (LQR) approach for lifting and st...

引用

International Conference on mechatronics (ICOM)

作者： Salmiah Ahmad M. O. Tokhi Department of Mechatronics Faculty of Engineering International Islamic University Malaysia Kuala Lumpur Malaysia Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

This paper discussed about the implementation of Linear Quadratic Regulator (LQR) on a two-wheeled wheelchair model. The state space model of the two-wheeled wheelchair that mimics double inverted pendulum has been obtained from the linearized mathematical equations of the model. The equations of motions, which are very complex, are derived from the wheels, Link1 and Link2. The goal is to have both links of the two-wheeled wheelchair to be at the upright position. To fulfill the goal, Link1 is to be lifted up from its initial position to zero degree upright position while maintaining Link2 at the upright position. This research is aimed to help disabled people who are using the wheelchair as the main transport for mobility but cannot stand on his own due to permanent injuries on the extremities. The scenario requires a suitable control strategy for the good system performance. Results show that LQR provides good response with the linearized differential equations.

关键词： Wheelchairs Mathematical model Wheels Equations Regulators Differential equations Aerospace electronics

来源：评论

学校读者我要写书评

暂无评论

Hybrid position, posture, force and moment control with impedance characteristics for robot manipulators

Hybrid position, posture, force and moment control with impe...

引用

2011 IEEE International Conference on mechatronics and Automation, ICMA 2011

作者： Yao, Yu Huang, Qingjiu Peng, Yan Oiwa, Taishi Institute of Robotic Science and Engineering Nanjing University of Technology 5 Xinmofan Rd Nanjing 210009 China Department of Mechanical and Control Engineering Tokyo Institute of Technology 2-12-1-I3-11 Ookayama Meguro-ku Tokyo 152-8552 Japan School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China

ISBN: (纸本)9781424481149

There are more and more needs for surface contact works, such as polish, grinding, paint, inspection, etc., with robot manipulators in recent years. In this paper, to achieve high-speed and high-precision surface contact work by robot manipulator, we propose a separation method of posture components to solve the problem of the rotation order, and a method of introducing the impedance characteristics to hybrid position, posture, force and moment control to eliminate the interference between free space and constrained space. Furthermore, the effectiveness of our control method for surface contact work was verified by the dynamic simulation of character-erasing motion on the white board of 6-DOF robot manipulator. © 2011 IEEE.

关键词： Robot applications

来源：评论

学校读者我要写书评

暂无评论

An adaptive control method for the linear switched reluctance motor based on DSP

An adaptive control method for the linear switched reluctanc...

引用

International Conference on Power Electronics Systems and Applications (ICPESA)

作者： Jin-quan Li Norbert. C. Cheung J. F. Pan Guang-zhong Cao College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Electrical Engineering Department Hong kong Polytechnic University Hong Kong China

The linear switched reluctance motor (LSRM) is a new kind of direct-drive actuator, however, it is very difficult to build an exact theoretic model for the LSRM. In this paper, an indirect self-tuner is proposed for position control of the LSRM by combining the recursive least squares (RLS) estimator with the minimum-degree pole placement method (MDPP) for controller design. control system construction and operation based on one single Digital Signal Processor (DSP) are also established. Experimental results demonstrate the control scheme with on-line least-square parameter identification has a better performance than PID controller on modifying steady-error variances between each operation side in square-wave tracking. Experimental results prove that the control algorithm considering disturbances has smaller steady-state error compared with PID control algorithm.

关键词：

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：