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.
The paper addresses the problem of autonomous underwater vehicle (AUV) modeling and parameter estimation as a means to predict the expected dynamic performance of underwater vehicles and thus provide solid guidelines ...
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The paper addresses the problem of autonomous underwater vehicle (AUV) modeling and parameter estimation as a means to predict the expected dynamic performance of underwater vehicles and thus provide solid guidelines during their design phase. The use of analytical and semi-empirical (ASE) methods to predict the hydrodynamic derivatives of a large class of AUVs with conventional, streamlined bodies is discussed. An application is made to the estimation of the hydrodynamic derivatives of the MAYA AUV, an autonomous vehicle that is being developed under a joint Indian-Portuguese project. The estimates are used to predict the behavior of the vehicle in the vertical plane and to assess the impact of stern plane size on its expected performance.
This project is concerned with computational simulation of air flow in the individual parts of a synchronous machine. FLUENT6 software was used for computational modeling. A model of a machine fan was built, which was...
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This project is concerned with computational simulation of air flow in the individual parts of a synchronous machine. FLUENT6 software was used for computational modeling. A model of a machine fan was built, which was used for calculation of ventilation characteristics. Ventilation characteristics were calculated for three ventilator diameters. The aim was to find the operating point for each fan. A model of the asymmetrical inlet to the machine and the distribution of airflow to the stator and rotor was built, which consisted of inlet to machine, axial stator and rotor channels and ten radial channels in the stator packet. A parametric computational model was developed with three main parameters - size of axial stator and rotor channels and size of radial channels. The results of the computer simulation were compared with experimental measurements, which were accomplished on the synchronous generator using a Pitot tube and digital micro manometer.
This paper Proportional-Integra1 tracking problem of presents the development of a sliding mode controller for robot manitsulators. A robust sliding mode controller is deriveh so that the actual trajectory tracks the ...
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This paper presents the development of a Proportional-Integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the d...
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This paper presents the development of a Proportional-Integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly non-linear and coupled dynamics. The proposed controller is designed using the centralized and decentralized approaches. The Proportional-Integral sliding mode 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 two-link planar robot manipulator is considered.
This paper deals with the sequential inverse kinematics for the high speed tracking of flexible robots. As a continuation of the implicit expansion method in [1], the explicit version of the sequential inverse kinemat...
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This paper deals with the sequential inverse kinematics for the high speed tracking of flexible robots. As a continuation of the implicit expansion method in [1], the explicit version of the sequential inverse kinematics is presented which is easier to be understood conceptually. The accuracy and stability of the two algorithms are compared and proved. Numerical study verifies the validity of the theoretical results.
In this paper, basic models and a formulation are presented for the stiffness analysis of the humanoid robot WABIAN-RV. An evaluation of stiffness performances is carried out by numerically implementing the proposed f...
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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...
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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...
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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.
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