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检索条件"机构=Mechatronics and Robotics Engineering"
2377 条 记 录,以下是2291-2300 订阅
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Application of fuzzy neural networks for instrument fault diagnosis of condensation turbine control  15th
Application of fuzzy neural networks for instrument fault di...
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15th World Congress of the International Federation of Automatic Control, 2002
作者: Pawlak, Mariusz Koscielny, Jan M. Bartys, Michal Z. Institute of Heat Engineering Dąbrowskiego 113 Lódź93-208 Poland Warsaw University of Technology Faculty of Mechatronics Institute of Automatic Control and Robotics Chodkiewicza 8 Warszawa02-525 Poland
In the paper an application of fuzzy neural networks (FNN) for sensor fault diagnosis in condensation turbine control unit was given. The FNN are applied for fault detection and isolation processes. This approach give... 详细信息
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Data fusion for compliant motion tasks based on human skills
Data fusion for compliant motion tasks based on human skills
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IEEE International Workshop on Intelligent Robots and Systems (IROS)
作者: R. Cortesao R. Koeppe U. Nunes G. Hirzinger Electrical and Computer Engineering Department Institute of Systems and Robotics (ISR) University of Coimbra Coimbra Portugal Institute of Robotics and Mechatronics German Aerospace Center Germany
The paper discusses new developments of the data fusion paradigm due to Cortesao and Koeppe (1999, 2000). A bank of Kalman filters is analyzed in the fusion process. Experiments for a robotic compliant motion task (pe... 详细信息
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Inverse kinematics of multi-link flexible robots for high speed applications
Inverse kinematics of multi-link flexible robots for high sp...
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IEEE International Workshop on Intelligent Robots and Systems (IROS)
作者: Joono Cheong Youngil Youm Wan Kyun Chung Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea
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
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Determining contact force distribution for enveloping grasps: subspace structure and dynamical balance
Determining contact force distribution for enveloping grasps...
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IEEE International Conference on robotics and Automation (ICRA)
作者: Jonghoon Park Robotics and Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea
This paper addresses one of standard problems in enveloping grasp analysis, the so-called contact force distribution. First, a subspace structure is analyzed using projection matrices into four subspaces of contact fo... 详细信息
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Characterization of instability of dynamic control for kinematically redundant manipulators
Characterization of instability of dynamic control for kinem...
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IEEE International Conference on robotics and Automation (ICRA)
作者: Jonghoon Park Wan-Kyun Chung Youngil Youm Robotics and Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea
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
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Obtaining passivity of micro-teleoperation handling a small inertia object
Obtaining passivity of micro-teleoperation handling a small ...
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IEEE International Conference on robotics and Automation (ICRA)
作者: Kyongho Park Wan Kyun Chung Y. Youm Robotics & Bio-Mechatronics Lab Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea
There have been many bilateral micro-teleoperation systems handling a small object. Historically, Lawrence (1991) proposed the transparency-optimized architecture and passivity theorem for stability analysis of bilate... 详细信息
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Workspace optimization of 3-UPU parallel platforms with joint constraints
Workspace optimization of 3-UPU parallel platforms with join...
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IEEE International Conference on robotics and Automation (ICRA)
作者: M. Badescu J. Morman C. Mavroidis Robotics and Mechatronics Laboratory Department of Mechanical and Aerospace Engineering State University of New Jersey Rutgers Piscataway NJ USA
In this paper the workspace optimization of translational 3-UPU parallel platforms with prismatic and universal joint constraints is performed. The workspace is parameterized using two design parameters, which are the... 详细信息
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PID composite controller and its tuning for flexible link robots
PID composite controller and its tuning for flexible link ro...
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IEEE/RSJ International Conference on Intelligent Robots and Systems
作者: Joono Cheong Wan Kyun Chung Youngil Youm Department of Mechanical Engineering Robotics 8 Bio-Mechatronics Laboratory Pohang University of Science and Technology Pohang South Korea
This paper proposes a PID-type composite controller for controlling flexible arms modeled by the singular perturbation approach, and investigates a tuning method based on the proposed controller structure. For the slo... 详细信息
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Adaptive non model-based piezoelectric control of flexible beams with translational base
Adaptive non model-based piezoelectric control of flexible b...
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American Control Conference (ACC)
作者: N. Jalili M. Dadfarnia F. Hong S.S. Ge Robotics and Mechatronics Laboratory Department of Mechanical Engineering Clemson University Clemson SC USA Department of Electrical and Computer Engineering National University of Singapore Singapore
An adaptive, nonmodel-based controller is proposed for the tracking control of a flexible cantilever beam with a translational base support. A piezoelectric (PZT) patch actuator is bonded on the top surface of the bea... 详细信息
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Real-time ZMP compensation method using null motion for mobile manipulators
Real-time ZMP compensation method using null motion for mobi...
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IEEE International Conference on robotics and Automation (ICRA)
作者: Jinhyun Kim Wan Kyun Chung Youngil Youm B.H. Lee Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Robotics & Intelligent Systems Laboratory School of Electrical Engineering Seoul National University Seoul South Korea
The dynamic stability of a mobile manipulator using ZMP compensation is considered. A unified approach for the two subsystems is formulated using a redundant scheme. First, to conserve the dynamic stability of the sys... 详细信息
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