A new method based on human-likeness assessment and optimization concept to solve the problem of human-like ma- nipulation planning for articulated robot is proposed in this paper. This method intrinsically formulates...
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A new method based on human-likeness assessment and optimization concept to solve the problem of human-like ma- nipulation planning for articulated robot is proposed in this paper. This method intrinsically formulates the problem as a con- strained optimization problem in robot configuration space. The robot configuration space is divided into different subregions by human likeness assessment. A widely used strategy, Rapid Upper Limb Assessment (RULA) in applied ergonomics, is adopted here to evaluate the human likeness of robot configuration. A task compatibility measurement of the robot velocity transmission ratio along a specified direction is used as the target function for the optimization problem. Simple illustrative examples of this method applied to a two Degree of Freedom (DOF) planar robot that resembles the upper limb of a human are presented. Further applications to a humanoid industrial robot SDA10D are also presented. The reasonable planning results for these applications assert the effectiveness of our method.
In industrial manufacturing,the deployment of dual-arm robots in assembly tasks has become a ***,making the dual-arm robots more intelligent in such applications is still an open,challenging *** paper proposes a novel...
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In industrial manufacturing,the deployment of dual-arm robots in assembly tasks has become a ***,making the dual-arm robots more intelligent in such applications is still an open,challenging *** paper proposes a novel framework that combines task-oriented motion planning with visual perception to facilitate robot deployment from perception to execution and finish assembly problems by using dual-arm *** this framework,visual perception is first employed to track the effects of the robot behaviors and observe states of the workpieces,where the performance of tasks can be abstracted as a high-level state for intelligent *** assembly task and manipulation sequences can be obtained by analyzing and reasoning the state transition trajectory of the environment as well as the ***,the corresponding assembly manipulation can be generated and parameterized according to the differences between adjacent states by combining with the prebuilt knowledge of the *** are set up with a dual-arm robotic system(ABB YuMi and an RGB-D camera)to validate the proposed *** results demonstrate the effectiveness of the proposed framework and the promising value of its practical application.
To deal with the position and attitude tracking control problem of a quadrotor unmanned aerial vehicle(UAV),the proportional-derivative(PD) and integral sliding mode techniques are adapted to design a double-loop cont...
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ISBN:
(纸本)9781509046584
To deal with the position and attitude tracking control problem of a quadrotor unmanned aerial vehicle(UAV),the proportional-derivative(PD) and integral sliding mode techniques are adapted to design a double-loop controller in this ***,the system model of quadrotor is established according to the Lagrange ***,a PD control method is put forward in the outer-loop to achieve the position ***,an integral sliding mode control method is adapted in the inner-loop to ensure the quadrotor track the desired attitude angles in the presence of external ***,a double-loop controller is ***,simulation results are presented to verify the effectiveness and robustness of the proposed control laws.
Purpose-The paper aims to build the connections between game theory and the resource allocation problem with general *** proposes modeling the distributed resource allocation problem by Bayesian *** this paper,three b...
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Purpose-The paper aims to build the connections between game theory and the resource allocation problem with general *** proposes modeling the distributed resource allocation problem by Bayesian *** this paper,three basic kinds of uncertainties are ***,the purpose of this paper is to build the connections between game theory and the resource allocation problem with general ***/methodology/approach-In this paper,the Bayesian game is proposed for modeling the resource allocation problem with *** basic game theoretical model contains three parts:agents,utility function,and decision-making ***,the probabilistic weighted Shapley value(WSV)is applied to design the utility function of the *** achieving the Bayesian Nash equilibrium point,the rational learning method is introduced for optimizing the decision-making process of the ***-The paper provides empirical insights about how the game theoretical model deals with the resource allocation problem uncertainty.A probabilistic WSV function was proposed to design the utility function of ***,the rational learning was used to optimize the decision-making process of agents for achieving Bayesian Nash equilibrium *** comparing with the models with full information,the simulation results illustrated the effectiveness of the Bayesian game theoretical methods for the resource allocation problem under ***/value-This paper designs a Bayesian theoretical model for the resource allocation problem under *** relationships between the Bayesian game and the resource allocation problem are discussed.
We consider the problem of consensus of a second-order multi-agent system in the situation where an eavesdropper tends to impact the security of the network.A secure encoding scheme that guarantees both consensus and ...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
We consider the problem of consensus of a second-order multi-agent system in the situation where an eavesdropper tends to impact the security of the network.A secure encoding scheme that guarantees both consensus and security of the multiagent network is *** the network,the agents transmit messages to one another through digital channels,and there exists an eavesdropper whose aim is to overhear the state information of the agents in the *** of transmitting the states of themselves,the agents in the network send states of auxiliary systems to defend against the *** concept of topological entropy is utilized to restrict the eigenvalues of the encoding matrix.A sufficient condition is given to guarantee that the network achieves consensus,and the eavesdropper cannot get the accurate estimation of the state of any agent.A simulation example is given to show the performance of the agents and the eavesdropper under the designed encoding scheme.
This paper studies distributed filtering problem of homogeneous sensor *** part of sensors can get observations of the process and consensus based filters are *** the distributed detectability and the suboptimal filte...
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ISBN:
(纸本)9781479947249
This paper studies distributed filtering problem of homogeneous sensor *** part of sensors can get observations of the process and consensus based filters are *** the distributed detectability and the suboptimal filter design are *** converting the stability problem of estimation errors of sensors under time-varying topologies to the robust stability problem of some uncertain system,two sufficient distributed detectability conditions are *** is LMI-based and the other is given by the eigenvalues of the process matrix and Laplacian matrices.A suboptimal algorithm to design the consensus based filter gains is proposed and the convergence of the algorithm is *** examples are given to illustrate the results.
A model predictive tracking control algorithm for rigid manipulators considering the existence of external time-varying disturbances is studied in this *** the field of manipulators,disturbances are *** the influence ...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
A model predictive tracking control algorithm for rigid manipulators considering the existence of external time-varying disturbances is studied in this *** the field of manipulators,disturbances are *** the influence of disturbances will lead to poor control accuracy and even *** a two-degree-of-freedom(2-DoF) rigid manipulator,a composite algorithm combing model predictive control(MPC) and a generalized proportional integral observer(GPIO) is *** the proposed method,feedback linearization technology is used to decouple the *** order to improve the ability of disturbance rejection,a GPIO is used to estimate the lumped disturbances and the estimated values are added to the control law by feedforward *** is conducted to validate the proposed algorithm.
This paper investigates a finite-time disturbance observer(FTDO) based nonsingular terminal sliding mode control(NTSMC) approach for DC-DC boost converter *** using exact feedback linearization theory and control ...
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ISBN:
(纸本)9781538629185
This paper investigates a finite-time disturbance observer(FTDO) based nonsingular terminal sliding mode control(NTSMC) approach for DC-DC boost converter *** using exact feedback linearization theory and control method to solve the output voltage regulation problem under the load resistance changes and external input voltage *** the disturbance estimated by FTDO into the design of the nonlinear dynamic sliding mode surface,a finite-time NTSMC method is developed to reject the effects of mismatched disturbances and achieve finite-time tracking *** compared with the nominal NTSMC method,the proposed method obtains a better disturbance rejection ability no matter the disturbances satisfy the matching condition or *** is shown that the stability of closed-loop system can be guaranteed by the proposed *** comparison results are displayed to demonstrate the robustness of the proposed controller against input voltage variations and load uncertainties.
Ships stability and safety are always threatened by the unavoidable sway in the complicated situation of the sea, *** wind and roaring waves. Ensuring the stability of the ship as a difficult t
ISBN:
(纸本)9781467389808
Ships stability and safety are always threatened by the unavoidable sway in the complicated situation of the sea, *** wind and roaring waves. Ensuring the stability of the ship as a difficult t
In this paper, a method of tank gun stability control system based on multi-dimensional Taylor network optimal control(MTN) is proposed. As the fact that tank itself has a strong nonlinear characteris
ISBN:
(纸本)9781467389808
In this paper, a method of tank gun stability control system based on multi-dimensional Taylor network optimal control(MTN) is proposed. As the fact that tank itself has a strong nonlinear characteris
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