This paper presents a methodology to create 3D visualization of discrete event simulation. This methodology connects discrete event simulation directly to 3D animation with its novel methods of analyzing and convertin...
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This paper presents a methodology to create 3D visualization of discrete event simulation. This methodology connects discrete event simulation directly to 3D animation with its novel methods of analyzing and converting discrete simulation results into animation events to trigger 3D animation. Discrete simulation results are analyzed and displayed in a graph structure that reveals all possible sequences of simulation events. In addition, a 3D animation framework is constructed for the visualization of discrete simulation results. This framework supports the reuse of both the existing 3D animation objects and behavior components, and allows the rapid development of new 3D animation objects by users with no special knowledge in computer graphics. This methodology has been implemented with the software component technology. Results in an electronics assembly factory are also provided in the paper to demonstrate the feasibility of this approach.
This paper presents the development of a full order sliding mode controller for tracking problem of direct drive robot manipulators. By treating the arm as an uncertain system represented by its nominal and bounded pa...
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This paper presents the development of a full order sliding mode controller for tracking problem of direct drive robot manipulators. By treating the arm as an uncertain system represented by its nominal and bounded parametric uncertainties, a new robust full order sliding mode tracking controller is derived such that the actual trajectory tracks the desired trajectory as closely as possible despite the nonlinearities and input couplings present in the system. A proportional-integral sliding surface is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a three DOF direct drive robot manipulator is considered.
This paper presents a methodology for optimum dynamic balancing of planar parallel manipulators typified with a variable speed 2 DOF parallel manipulator articulated with revolute joints. The dynamic balancing is form...
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This paper presents a methodology for optimum dynamic balancing of planar parallel manipulators typified with a variable speed 2 DOF parallel manipulator articulated with revolute joints. The dynamic balancing is formulated as an optimisation problem such that a sum-squared values of bearing forces, driving torques, shaking moment, and the deviation of the angular momentum from its mean value are minimized throughout an operation range of the manipulator, provided that a set of balancing constraints consisting of the shaking force balancing conditions, the sizes of some inertial and geometric parameters are satisfied. Sets of optimisation results corresponding to various combinations of the elements of the objective function are evaluated in order to quantify their influence on the resulting bearing forces, the driving torques, shaking moment and force. The results prove that the proposed optimisation approach can be used to minimize any desired combination of the forces, moments, and torques involved in any parallel mechanism by choosing a suitable set of weighting factors. The method is systematic, versatile and easy to implement for the optimum balancing of the parallel manipulator and more general parallel manipulators.
Since teleoperation systems are mostly executed in the extreme environment, there are constraints in designing the mechanism and choosing sensors. This paper presents a novel quantitative comparison method of teleoper...
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ISBN:
(纸本)0780384636
Since teleoperation systems are mostly executed in the extreme environment, there are constraints in designing the mechanism and choosing sensors. This paper presents a novel quantitative comparison method of teleoperators based on H∞, framework. The upper H∞ norm bound of the system including H∞ sub optimal controller is used as the performance index. As a case study, the method is applied to a real teleoperation system to study the effects of sensory configuration and back-drivability of the mechanism on the performance of the system in tasks which involve different environment impedances. It can be important criteria to design a teleoperator from the control point of view.
In this paper we describe the design and implementation of a nonlinear adaptive disturbance rejection approach for single-input-single-output linear-time-invariant uncertain systems subject to sinusoidal disturbances ...
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In this paper we describe the design and implementation of a nonlinear adaptive disturbance rejection approach for single-input-single-output linear-time-invariant uncertain systems subject to sinusoidal disturbances with unknown amplitude and frequency. This is an extension of our earlier study to a more complicated plant, a two-degrees-of-freedom (2DOF) system representing a vibration absorber setting. The controller design is based on a single Lyapunov function incorporating both the error states and the update laws and, hence, global stability and improved transient performance are readily achieved. Utilizing only the system output, a virtual control input is used in place of non-measurable and unknown signals. The performance of the adaptation algorithm is demonstrated through real-time simulations, both for regulation and tracking, on a 2DOF system representing an active vibration absorber setup. It is shown that when the primary system is subjected to an unknown sinusoidal disturbance, the proposed controller in the absorber subsection completely suppresses the primary system vibration in the presence of unknown disturbance.
＜正＞In this paper a new version of the Cassino parallel manipulator （CaPaMan 2） is presented. A model describing the multibody system through mixed coordinates has been created, and a simulation program has been d...
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＜正＞In this paper a new version of the Cassino parallel manipulator （CaPaMan 2） is presented. A model describing the multibody system through mixed coordinates has been created, and a simulation program has been developed to perform both kinematic and dynamic analysis of the manipulator. This program uses an entirely symbolic formulation of the equations of motion for the mechanism.
Drive-by-wire is becoming a new technology in automobile replacing the current mechanically linked systems with electronic ones. Lately, it has attracted considerable attention, because of considerable advantages incl...
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Drive-by-wire is becoming a new technology in automobile replacing the current mechanically linked systems with electronic ones. Lately, it has attracted considerable attention, because of considerable advantages including safety, cost reduction, flexible interior design, reducing the weight and etc. With the ‘by-wire’ system, drivers could use different types of control devices in shape and function for the existing steering wheel and pedals, or even drive by one control device integrating the brake pedal, accelerator pedal and other functions. In this paper, a new drive-by-wire system is built by using the Electric Power Steering (EPS), Accelerator Pedal Module (APM) and a simple actuating mechanism for brake pedal. Especially, we concentrate on steer-by-wire system. To improve the accuracy and safety in steering, a new type of integrated reactive joystick and control algorithm is developed. The new joystick has larger displacement than general commercial joysticks and can generate the reactive force which promotes safe driving by preventing too fast steering. The new control scheme is one of the bilateral controls that stands on the base of the teleoperation control. Therefore, drivers could get more information about the status of car. The experiment is performed by a field test using a real car and shows the performance of this steer-by-wire system with control algorithm.
The concept of C-space entropy as a measure of knowledge of C-space for sensor-based path planning and exploration for general robot-sensor systems was introduced in Yu, Y. and Gupta, K. (2000). The robot plans the ne...
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The concept of C-space entropy as a measure of knowledge of C-space for sensor-based path planning and exploration for general robot-sensor systems was introduced in Yu, Y. and Gupta, K. (2000). The robot plans the next sensing action to maximally reduce the expected C-space entropy, also called the maximal expected entropy reduction, or MER criterion. The expected C-space entropy computation, however, made an idealized assumption. The sensor was assumed to measure exact data, i.e., it was not subject to noise. In this paper we extend this approach by using a real noisy sensor model. Sensing actions can then be compared on the basis of their uncertainty models. This offers the ability for using more than one principle sensor (multisensory exploration), because sensor readings can be weighted by evaluating the expected measurement quality. Additionally, it makes robot motion planning viable for tasks such as object surface inspection, which require the robot to come very close to the obstacles to achieve high sensing accuracy.
Since teleoperation systems are mostly executed in the extreme environment, there are constraints in designing the mechanism and choosing sensors. This paper presents a novel quantitative comparison method of teleoper...
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Since teleoperation systems are mostly executed in the extreme environment, there are constraints in designing the mechanism and choosing sensors. This paper presents a novel quantitative comparison method of teleoperators based on H/sub /spl infin// framework. The upper H/sub /spl infin// norm bound of the system including H/sub /spl infin// sub optimal controller is used as the performance index. As a case study, the method is applied to a real teleoperation system to study the effects of sensory configuration and back-drivability of the mechanism on the performance of the system in tasks, which involve different environment impedances. It can be important criteria to design a teleoperator from the control point of view.
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