In recent years, along with the rapid development of manufacturing, control, sensing and other technologies, biomimetic robotic fish has played an increasingly important role in marine exploration, underwater rescue, ...
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Weight, size and torque control for hand exoskeleton robots are challenging due to lack of small and compact bidirectional torque actuators. In this paper, an asymmetric Bowden-cable-driven series elastic actuator (AB...
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The size of the tracking error is one of the important indicators to measure the control system of the X-Y Precision Planar Motion Platform. Iterative learning control (ILC) can obtain higher tracking accuracy through...
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ISBN:
(纸本)9781665426480
The size of the tracking error is one of the important indicators to measure the control system of the X-Y Precision Planar Motion Platform. Iterative learning control (ILC) can obtain higher tracking accuracy through multiple iterations. However, it is found in experiments that the tracking error of the XY precision motion stage using ordinary PD-type iterative learning will eventually fluctuate in a relatively range, and some high-frequency Noise will seriously affect the stability of the system after many iterations. Aiming at the above problems, a PD-type variable gain open-closed loop ILC with a low-pass filter is proposed. This control scheme can effectively remove high-frequency noise and reduce tracking errors. Finally, a hardware-in-the-loop real-time simulator is used to conduct a comparative experiment. Through comparison with PID controller and ordinary PD-type ILC, the experimental consequence show that this arithmetic has a smaller tracking error than the other two algorithms.
As for a motion control framework of robots, virtual model control（VMC） can use virtual components to create virtual forces/torques. Actually, the virtual forces/torques are generated by joint actuators when the vir...
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As for a motion control framework of robots, virtual model control（VMC） can use virtual components to create virtual forces/torques. Actually, the virtual forces/torques are generated by joint actuators when the virtual components interact between robots and environments. In this paper, a virtual model control is proposed to do the dynamic balance control of quadruped robots in trot gait. In each leg, virtual model control includes swing phase control of robots and stance phase counterparts. In whole body, based on the forces/torques distribution method between two stance legs, virtual model control is mainly about the attitude control containing roll, pitch and yaw. Then, an intuitive approach of velocity control is employed for the locomotion of quadruped robots. Based on the velocity planning and control, a trajectory tracking control approach is investigated by considering four factors: terrain complexity index, curvature radius of given trajectory, distance to terminal, and maximum velocity of quadruped robots. Finally, the effectiveness of proposed controllers is validated by co-simulations.
This paper aims to establish the simplest human walking model and provide a guide for controlling biped ***,a human motion capture system was utilized to sample the motion data of human walking and a representative su...
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This paper aims to establish the simplest human walking model and provide a guide for controlling biped ***,a human motion capture system was utilized to sample the motion data of human walking and a representative subject was ***,one of the simplest human walking model was set *** mechanical property analysis of human walking was done based on the established walking model via ***,the feasibility and effectiveness of proposed walking model were validated by numerical ***,the intrinsical relationships among human walking,biped walking model and control were discussed to provide a guide and insight for controlling biped robots.
According to the characteristics of the painting process of passenger car manufacturing enterprises, by formulating the routing buffer linkage rules based on the total renewal cost, the linkage process of the bus in t...
According to the characteristics of the painting process of passenger car manufacturing enterprises, by formulating the routing buffer linkage rules based on the total renewal cost, the linkage process of the bus in the routing buffer is controlled, and an improved Q-learning (Q- The routing buffer of learning) algorithm quickly finds the optimal path method. According to the actual production situation, this method improves the dynamic parameters of the algorithm on the basis of the traditional Q-learning algorithm, and improves the optimization speed and accuracy of the algorithm by establishing the correlation between the work-in-process and its neighboring work-in-process in the current state. Through multiple sets of example simulation tests, the effectiveness of the Q-learning algorithm in solving the optimization problem of routing buffer linkage is verified.
This paper aims to fabricate functionally graded dental crown using a multi-slurry tape casting additive manufacturing technology. The different luminescence of the dental crown was obtained with different composition...
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The following topics are dealt with: mobile robots; learning (artificial intelligence); robot vision; motion control; medical robotics; position control; control engineering computing; human-robot interaction; feature...
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ISBN:
(数字)9781728157153
ISBN:
(纸本)9781728157160
The following topics are dealt with: mobile robots; learning (artificial intelligence); robot vision; motion control; medical robotics; position control; control engineering computing; human-robot interaction; feature extraction; and path planning.
A new method was presented to determine the iron content in the coating of galvanized steel sheet based on laser-induced breakdown *** zinc-iron coating was characterized with a series of single laser pulses irradiate...
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A new method was presented to determine the iron content in the coating of galvanized steel sheet based on laser-induced breakdown *** zinc-iron coating was characterized with a series of single laser pulses irradiated on the traversing sheet steel,each on a different steel sheet *** influences of laser fluence and elemental depth distribution were studied and *** protect the corrosion performance of the coating and meet requirements for small-invasive measurement,the ablation size of the crater under different laser fluences was *** the optimized experimental parameters,the diameter of ablation craters is about 50μm,and then,the Fe content in the coating was calibrated and analyzed by the linear standard calibration *** calibration result,however,is not *** that the Zn content in the coating was high and relatively constant,curve calibration was then carried out with the intensity ratio(IFe404.58/Izn468.01)instead of the net line intensity of Fe,and then,the determination coefficient of calibration curve increases from 0.7713 to 0.9511,and the root-mean-square error decreases from 0.4832%to 0.1509%.The results prove that the laser-induced breakdown spectroscopy is an effective way for the analysis of the Fe content in the coating of galvanized steel sheet.
Force and collision control is a primary concern to guarantee the safe use of medical robots as such systems normally need to interact with clinicians and patients, while at the same time cooperate with other devices....
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Force and collision control is a primary concern to guarantee the safe use of medical robots as such systems normally need to interact with clinicians and patients, while at the same time cooperate with other devices. Among different strategies, passive features working with intrinsically safety components are treated as one of the most effective approaches and therefore deserve in-depth study. In this study, we focus on the design of a novel back-drivable safety joint that incorporates a torque limiter with passive compliance and a manual override mechanism to disconnect the robotic joint from its drive train. The design and working principle of the proposed joint are explained, followed by the mathematical analysis of its performance and the impacts of parameters. An example of the design was manufactured and tested experimentally to validate the working concepts. It is concluded that the proposed multi-functional safety joint provides more versatility and customization to the design of bespoke medical robots and would limit the maximum torque that can be exserted onto the patient, allow the clinician to push the joint back, and enable the operator to switch back to manual override.
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