For any two n-th order polynomials a(s) and b(s), the Hurwitz stability of their convex combination is necessary and sufficient for the existence of a polynomial c(s) such that c(s)/a(s) and c(s)/b(s) are both strictl...
详细信息
This paper presents a novel passive robot system with 6 DOF force/torque sensor for measuring spacesuit joint damping parameters. Based on its special mechanical structure, a 3 DOF model of flexible IVA (intra vehicul...
详细信息
This paper presents a novel passive robot system with 6 DOF force/torque sensor for measuring spacesuit joint damping parameters. Based on its special mechanical structure, a 3 DOF model of flexible IVA (intra vehicular activity) spacesuit joint has been built. Experimental results prove the effectiveness of the measuring principle. Potential application of the measuring system is discussed.
In this paper, an algorithm for hyper symmetric environment simultaneous localization and mapping (SLAM) is developed based on the generalized Voronoi graph. The hyper symmetric environment is a challenging environmen...
详细信息
ISBN:
(纸本)0780378601
In this paper, an algorithm for hyper symmetric environment simultaneous localization and mapping (SLAM) is developed based on the generalized Voronoi graph. The hyper symmetric environment is a challenging environment for the SLAM and the most difficult problem on this is a data association. To redeem this problem, we propose three techniques. The first one is a breadth first node navigation algorithm which highly reduces the complexity of the data association. The second scheme is an odometry calibration method which converts untrustable odometry into reliable one. The third method is a multi layered data association scheme. We integrate above three techniques into one framework and propose a SLAM algorithm for the hyper symmetric environment. The simulation result shows that the proposed algorithm can successfully cover a large hyper symmetric environment under 20% odometry uncertainty.
In this paper a non-linear fuzzy autopilot for ship track-keeping is presented. The proposed autopilot has four inputs (actual and desired heading, rate of change of heading and offset from the desired path) and one o...
详细信息
In this paper a non-linear fuzzy autopilot for ship track-keeping is presented. The proposed autopilot has four inputs (actual and desired heading, rate of change of heading and offset from the desired path) and one output (command rudder angle). The track-keeping problem is decomposed into two subtasks: (i) followthe desired heading, and (ii) bring the ship onto the desired path and keep tracking. Internally, the autopilot consists of two autopilots that fulfil these tasks simultaneously. The proposed control scheme has been verified using a non-linear model of a Mariner-class vessel and steering mechanism under the influence of wave and current disturbances. Results presented show how such a control strategy enables improved tracking performance.
In this paper a mouth opening and closing training robot, named WY-5 (Waseda Yamanashi version 5), is analyzed in terms of stiffness characteristics. The basic models and formulation are proposed in order to deduce th...
详细信息
In this paper a mouth opening and closing training robot, named WY-5 (Waseda Yamanashi version 5), is analyzed in terms of stiffness characteristics. The basic models and formulation are proposed in order to deduce the stiffness matrix as a function of the most important stiffness parameters of the WY-5 architecture. A numerical simulation is also presented to discuss main features of the system.
作者：
How, Ong ChunAmin, S.H.M.
Dept. of Mechatronics and Robotics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Malaysia
This paper describes the development of a biologically inspired mobile robot. The locomotion mechanism is a hybrid combination of legged locomotion supported by wheels for stability purposes. The mechanism design, the...
详细信息
A novel dynamic vibration absorber is presented while exploring its practical implementation using piezoelectric ceramic (PZT) inertial actuators. It is referred to as active resonator absorber (ARA). The ARA is a pas...
详细信息
A novel dynamic vibration absorber is presented while exploring its practical implementation using piezoelectric ceramic (PZT) inertial actuators. It is referred to as active resonator absorber (ARA). The ARA is a passive absorber with an additional dynamic feedback compensator within the PZT actuator. Without any controller, the PZT inertial actuator becomes a passive vibration absorber due to the internal damping and stiffness properties of piezoelectric materials. Hence, it is inherently fail-safe. For active operation, the compensator parameters are designed such that a resonance condition is intentionally created within the absorber to mimic the vibratory energy from the system of concern to which it is attached. The resonance condition can be created through the appropriate design of the compensator and implemented through adjusting the external electrical voltage applied to the absorber. Because the parameters of the PZT actuators (i.e. stiffness, damping, and effective mass) are estimates, compensator designs based on these parameters would result in partial vibration suppression, when utilized in real applications. An auto-tuning method is, therefore, introduced to effectively tune the compensator parameters to improve vibration suppression quality. The effectiveness and stability of the proposed absorber is demonstrated through simulations when appended on a SDOF primary system.
An observer based control strategy is proposed for a flexible Cartesian (SCARA) Robot which is modeled as a flexible cantilever beam with a translational base support. A piezoelectric (PZT) patch actuator is bonded on...
详细信息
This paper proposes an improved differential inverse kinematics algorithm which works good for high speed motion control. The dynamic constraint as well as the kinematic constraint is utilized for the inverse kinemati...
详细信息
This paper proposes an improved differential inverse kinematics algorithm which works good for high speed motion control. The dynamic constraint as well as the kinematic constraint is utilized for the inverse kinematics. The singular perturbation method helps to reduce inverse kinematics to be solvable. The numerical and experimental results show the performance of the proposed method clearly.
In redundant manipulator research community, the phenomenon called torque instability has not yet been completely characterized using unanimous agreement on its mechanism. This article shows that the behavior is indee...
详细信息
In redundant manipulator research community, the phenomenon called torque instability has not yet been completely characterized using unanimous agreement on its mechanism. This article shows that the behavior is indeed caused by incomplete compensation of null dynamics related with self-motion. This instability can be avoided by proper control with compensation of nonlinear null dynamics, and we propose a method to stabilize conventional redundancy resolution schemes extended to dynamic controls.
暂无评论