检索结果-内蒙古大学图书馆

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 system, we define the performance index for the redundant system using the ZMP (zero moment point). This performance index represents the stability of the whole mobile manipulator system. Then, the redundancy resolution problem for optimizing the given performance index is solved using the null motion. Finally, the performance of this method is demonstrated by simulation study.

关键词： Stability Manipulator dynamics Mobile robots Control systems Intelligent robots Performance analysis Motion control Acceleration Real time systems Biomechatronics

来源：评论

学校读者我要写书评

暂无评论

A Decentralized Proportional-Integral Sliding Mode Tracking Controller for Robot Manipulators

A Decentralized Proportional-Integral Sliding Mode Tracking ...

引用

2002年IEEE十区计算机、通信、控制和电机工程会议

作者： MOHAMAD NOH AHMAD JOHAIU H.S.OSMAN MOHD RUDDIN A.GHAN Dept.of Robotics and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 UTM Skudai Malaysia. Dept.of Robotics and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 UTM Skudai Malaysia. Kolej Universiti Teknikal Kebangsaan Malaysia 75450 Ayer Keroh Melaka Malaysia.

This paper presents a decentralized Proportional-Integral(PI) sliding mode tracking control for a class of robotmanipulators. A robust decentralized sliding modecontroller is derived so that in each of the sub-system,the actual trajectory tracks the desired trajectory usingthe information available only on the local states. The PIsliding mode is chosen to ensure the stability of overalldynamics during the entire period i.e. the reaching phaseand the sliding phase. It is shown theoretically and bysimulation that manipulator systems controlled by theproposed decentralized control law are practically stable.

关键词： Controller A Decentralized Proportional-Integral Sliding Mode Tracking Controller for Robot Manipulators

来源：评论

学校读者我要写书评

暂无评论

Flexible multimodal telepresent assembly using a generic interconnection framework

Flexible multimodal telepresent assembly using a generic int...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： C. Preusche J. Hoogen D. Reintsema G. Schmidt G. Hirzinger Institute of Robotics and Mechatronics of Germany Aerospace Research Center Wessling Germany Institute of Automatic Clontrol Engineering Technical University Munich Munich Germany

A multimodal Internet-based telepresence system with interactive stereo vision, additional photo-realistic predictive display, and kinesthetic bilateral coupling in three degrees of freedom is presented. For easy coupling of various telepresence components by a unified interface structure and a generic link management protocol a CORBA based interconnection framework has been developed. By solving a peg-in-hole task in an industrial environment and with varying communication delay times, the system provides all capabilities for multimodal telepresent remote maintenance and assembly.

关键词： Internet Stereo vision Protocols Robotic assembly Assembly systems Humans Teleoperators Haptic interfaces Feedback Robot vision systems

来源：评论

学校读者我要写书评

暂无评论

FREQUENCY-WEIGHTED BALANCING RELATED CONTROLLER REDUCTION

引用

IFAC Proceedings Volumes 2002年第1期35卷 113-118页

作者： A. Varga B.D.O. Anderson German Aerospace Center DLR - Oberpfaffenhofen Institute of Robotics and Mechatronics D-82234 Wessling Germany Research School of Information Sciences and Engineering Australian National University Canberra ACT 0200 Australia

The efficient solution of a class of controller approximation problems by using frequency-weighted balancing related model reduction approaches is considered. It is shown that for certain standard performance and stability enforcing frequency-weights, the computation of the frequency-weighted controllability and observability grammians can be done by solving reduced order Lyapunov equations regardless the controller itself is stable or unstable. The new approach can be used in conjunction with accuracy enhancing square-root and balancing-free techniques recently developed by the authors for the frequency-weighted balancing related model reduction.

关键词： Controller order reduction frequency-weighted model reduction balanced realization linear systems numerical methods

来源：评论

学校读者我要写书评

暂无评论

APPLICATION OF FUZZY NEURAL NETWORKS FOR INSTRUMENT FAULT DIAGNOSIS OF CONDENSATION TURBINE CONTROL

引用

IFAC Proceedings Volumes 2002年第1期35卷 483-488页

作者： Mariusz PAWLAK Jan M. KOŚCIELNY Michal Z. BARTYŚ Institute of Heat Engineering Dąbrowskiego 113 93-208 Łódź Poland Warsaw University of Technology Faculty of Mechatronics Institute of Automatic Control and Robotics Chodkiewicza 8 02-525 Warszawa 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 gives the homogenous solution of fault detection and isolation process (FDI). The FNN models of turbine power, live steam pressure and steam mass flow rate were created and verified. Satisfactory models' performance indexes were obtained. The fault sensitivity of residuals was investigated and approved.

关键词： fault diagnosis power control power generation turbines fuzzy modelling neural networks fault tolerant systems

来源：评论

学校读者我要写书评

暂无评论

A decentralized proportional-integral sliding mode tracking controller for robot manipulators

A decentralized proportional-integral sliding mode tracking ...

引用

IEEE Region 10 International Conference TENCON

作者： M. Noh Ahmad J.H.S. Osman M. Ruddin A Ghani Department of Robotics and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Kolej Universiti Teknikal Kebangsaan Malaysia Ayer Keroh Malacca Japan

This paper presents a decentralized proportional-integral (PI) sliding mode tracking control for a class of robot manipulators. A robust decentralized sliding mode controller is derived so that in each of the sub-system, the actual trajectory tracks the desired trajectory using the information available only on the local states. The PI sliding mode is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. It is shown theoretically and by simulation that manipulator systems controlled by the proposed decentralized control law are practically stable.

关键词： Pi control Proportional control Robot control Sliding mode control Manipulator dynamics Trajectory Robust control Stability Control system synthesis Distributed control

来源：评论

学校读者我要写书评

暂无评论

Proportional-Integral sliding mode tracking controller with application to a robot manipulator

Proportional-Integral sliding mode tracking controller with ...

引用

International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： M.N. Ahmad J.H.S. Osman M.R.A. Ghani Department of Robotics and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Kolej Universiti Tehikal Kebangsaan Malaysia Ayer Keroh Malacca Japan

This paper presents the development of a Proportional-Integral sliding mode controller to control a class of uncertain systems. It is assumed that the plant to be controlled can be represented by its nominal and bounded parametric uncertainties. A robust sliding mode controller is newly derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. 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. The controller is applied to the control of a two-link planar robot manipulator.

关键词： Pi control Proportional control Sliding mode control Robots Manipulators Control systems Trajectory Uncertain systems Uncertainty Robust control

来源：评论

学校读者我要写书评

暂无评论

Optimization with joint space reduction and extension induced by kinematic limits for redundant manipulators

Optimization with joint space reduction and extension induce...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Kyung-ho Ahn Wan Kyun Chung Korea Aerospace Industries Ltd. Aerospace R and D Center Changwon South Korea Robotics & Bio-mechatronics Lab Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

This paper shows how to find the optimal trajectory with respect to a certain cost when a kinematically redundant manipulator is subject to joint kinematic limits. Relevant mathematical properties in accordance with our intuition are strictly enlightened to be useful for this seemingly easy albeit complicated problem. Key terms of 'reducibility' and '(weak) optimal extensionability' are defined for further discussion of the solution. The final solution is basically achieved by the composition of applying the extended Jacobian method on each joint space where the joint coordinates saturated with the limits are eliminated. We would then be able to understand how the transition query is characterized and why the solution should be in that way. The simulation example would reveal how the solution gets links with our physical intuition and this would make us cope with unexpected algorithmic singularities.

关键词： Kinematics Cost function Jacobian matrices Space technology Aerospace industry Manipulators Humanoid robots Aerospace engineering Research and development Space exploration

来源：评论

学校读者我要写书评

暂无评论

The effectiveness of learning simulations for electronic laboratories

引用

Journal of engineering Education 2002年第1期91卷 81-87页

作者： Campbell, J. Olin Bourne, John R. Mosterman, Pieter J. Brodersen, Arthur J. Dept. Instructional Psychol./T. Brigham Young University Department of Electrical Engineering Franklin W. Olin Coll. of Eng. Inst. of Robotics and Mechatronics DLR Research Center Oberpfaffenhofen Department of Electrical Engineering Vanderbilt University 150-KMCKB Brigham Young University Provo UT 84602 Department of Electrical Engineering Franklin W. Olin Coll. of Eng. 1795 Great Plain Avenue Needham MA 02492-1245 Polderweg 10 9163 JM Nes-Ameland Netherlands Department of Electrical Engineering Vanderbilt University Station B Nashville TN 37235

This work investigates the efficacy of software simulations of electronic circuits laboratories to support beginning electrical engineering students. Experiment 1 was a formative evaluation of an Electronic Laboratory Simulator (ELS), as an optional add-on to physical labs for 120 subjects at four universities. All subjects received the same treatment: their normal classes and physical labs, with optional use of simulated labs. Subjects took written tests specific to the lab's content, before and after using each simulated lab. Only subjects who took both pre- and post-tests were included. Pre- and post-test comparisons indicated significant improvement in both theory and lab knowledge when scores for all labs were combined, but inconsistent performance on individual labs. As the treatment included other learning opportunities in addition to simulated labs, the results were not attributed to the simulations, but provided initial indications and qualitative data on subjects' experiences. These helped to improve the labs and the implementation strategies. Experiment 2 used 40 college sophomores in a beginning electronic circuits lab. Physical lab subjects received seven physical labs. Combined lab subjects received a combination of seven simulated labs and two physical labs. The latter repeated two of the simulated labs to provide physical lab practice. Both treatments used the same assignments. Learner outcome measures were: (a) time required to complete a new criterion physical lab;(b) score on written lab and theory tests over all the labs;and (c) comments on the lab experience. The group that used combined simulated and physical labs performed significantly better on the written tests than the group using entirely physical labs. Both groups were equivalent in time to complete the criterion physical lab. Comments about the simulated labs were generally positive, and also provided specific suggestions for changes.

关键词： Learning systems

来源：评论

学校读者我要写书评

暂无评论

Fast suppression of vibration for multi-link flexible robots using parameter adaptive control

Fast suppression of vibration for multi-link flexible robots...

引用

2001 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Cheong, Joono Chung, Wan Kyun Youm, Youngil Robotics and Bio-Mechatronics Lab. Dept. of Mechanical Engineering POSTECH Pohang Korea Republic of

In this paper, a simple direct parameter update rule is presented to suppress the vibration more quickly, considering the dynamics of flexible subsystem. Different from most of adaptive control schemes in multilink flexible robots, which is a model-independent approach, the proposed adaptive control utilizes model parameters and updates them. Usually, the precise modeling of multi-link flexible robot is hard to obtain and even if we can get it, it is difficult to use in the online control tasks. Due to these reasons, a simplified model is used to describe the robot dynamics. The modelling errors and other structured uncertainty are considered as parameter perturbation. We verify the effectiveness of the proposed algorithm through experiments.

关键词： Flexible manipulators

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：