作者：
V.A. YakubovichS. NakauraK. FurutaVladimir A. Yakubovich is a corresponding member of Russian Academy of Science.Vladimir A. Yakubovich was born in Novosibirsk
Russia in 1926. he entered Moscow University in 1946 and graduated in 1949. he received the Candidate of Science degree (Ph.D.) in 1953 and the Doctor of Science degree in 1959 from Leningrad University. In 1959 he joined the Leningrad University and he has remained since then. He is the author of more than 270 papers and a coauthor of seven books in different areas of applied mathematics and control theory. he has worked in parametric resonance theory in the theory of stability of nonlinear systems and in optimization theory. Dr. Yakubovich has served on many scientific committees and editorial boards. he is a member of several scientific socienties in Russia. He was awarded the Norbert Wiener Prize (1991) a prize from the international editorial company “Nauka” for best publication in its journals (1995) and the IEEE Control Systems Award (1996). Since 1991 he has been a corresponding member of the Russian Academy of Sciences. Dept. of Control Engineering
Tokyo Institute of Technology Japan. Shigeki Nakaura received his B.S. and M.S. degrees in Control Engineering from the Tokyo Institute of Technology in 1995 and 1997
respectively. He is currently a PhD student of the Tokyo Institute of Technology. His research interests include robotics and intelligent machining. He is a member of SICE JSPE and IEEE. Katsuhisa Furuta was born in Tokyo
Japan in 1940. He received his B.S. M.S. and Ph.D. degrees in Engineering from the Tokyo Institute of Technology in 1962 1964 and 1967 respectively. he was a post doctoral fellow at Laval University (Quebec Canada) from July 1967 to August 1969. Since then he has been a member of the teaching staff of the Tokyo Institute of Technology Department of Control Engineering where he is currently a Professor Graduate School of Information Science and Engineering. He was a Russell Severance Springer Professor University of California at
In many mechanical systems, the tracking control is one of the most important issues. Therefore for the unstable system subject to actuator saturation, the domain of the initial states corresponding to an arbitrary re...
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In many mechanical systems, the tracking control is one of the most important issues. Therefore for the unstable system subject to actuator saturation, the domain of the initial states corresponding to an arbitrary reference signal, within which tracking condition can be achieved, is interesting to be considered. In this paper, an approximate tracking domain is derived analytically. First in Theorem 1, for simple case, it is constructed by using the partial Lyapunov function and the absolute stability theory. In the following Theorems 2 and 3, a new idea is used to obtain larger domains. Finally in the last section, a simple numerical example is given.
作者：
李彦明马培荪秦昌俊曹志奎王建滨朱海鸿The Research Institute of Robotics
School of Mechanical Engineering Shanghai Jiao Tong University 1954 HuashanRoad Shanghai 200030 (P. R. China) Intelligent Machine Dynamic Laboratory
School of Mechanical Engineering Georgia Institute of Technology Atlanta Georgia 300332 (USA) novel hyper-redundant manipulator named RT1 is designed and studied. The unique feature of RT1 is all degrees of freedom (DOF) are actuated with only one motor via special designed hinge bar universal joints. The mechanisms of RT1 are introduced in detail. Some experiments are carried out in order to test the movability and adaptability of the manipulator. RT1 is actuated by pulse string and acts discretely. The discrete working space of RT1 is described and the parameter optimization for kinematical redundancy resolution is studied also. The optimization criterion is altering the design parameter as little as possible during manipulator's motion from the initial position to the expected position. An optimization example is given that is realized with Matlab optimize tool-box.
A novel hyper-redundant manipulator named RT1 is designed and studied. The unique feature of RT1 is all degrees of freedom (DOF) are actuated with only one motor via special designed hinge bar universal joints. The me...
详细信息
A novel hyper-redundant manipulator named RT1 is designed and studied. The unique feature of RT1 is all degrees of freedom (DOF) are actuated with only one motor via special designed hinge bar universal joints. The mechanisms of RT1 are introduced in detail. Some experiments are carried out in order to test the movability and adaptability of the manipulator. RT1 is actuated by pulse string and acts discretely. The discrete working space of RT1 is described and the parameter optimization for kinematical redundancy resolution is studied also. The optimization criterion is altering the design parameter as little as possible during manipulator's motion from the initial position to the expected position. An optimization example is given that is realized with Matlab optimize tool-box.
Since its inception in 1997, RoboCup has developed into a truly unique and long-standing research community advancing robotics and artificial intelligence through various challenges, benchmarks, and test fields. The m...
Since its inception in 1997, RoboCup has developed into a truly unique and long-standing research community advancing robotics and artificial intelligence through various challenges, benchmarks, and test fields. The main purposes of this article are to evaluate the research and development achievements so far and to identify new challenges and related new research issues. Unlike other robot competitions and research conferences, RoboCup eliminates the boundaries between pure research activities and the development of full system designs with hardware and software implementations at a site open to the public. It also creates specific scientific and technological research and development challenges to be addressed. In this article, we provide an overview of RoboCup, including its league structure and related research issues. We also review recent studies across several research categories to show how participants (called RoboCuppers) address the research and development challenges before, during, and after the annual competitions. Among the diversity of research issues, we highlight two unique aspects of the challenges: the platform design of the robots and the game evaluations. Both of these aspects contribute to solving the research and development challenges of RoboCup and verifying the results from a common perspective (i.e., a more objective view). Finally, we provide concluding remarks and discuss future research directions.
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