The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper presents the biological control for a radially free distributed hexapod robot. The CPG(central pattern generators) network consists of six CPG units based on Hopf neural oscillator that used to generate rhythmic oscillatory signals for the end trajectories of legs. The ring-type network topology of CPG network that consists of six CPG units is established. By computing the inverse kinematics,...
Mobile robots are remarkable cases of high development technology and systems. Robot community developed a complex analysis to meet the increased demands for the control challenges for the movement of Robot. A model predictive control (MPC) approach is used in combination with feedforward Controller in a context of decoupling controller. Implementation of this algorithm in the ROS system is presented...
The paper describes an approach to learning feedback control of a robot manipulator, based on partitioning of the joint space into segments. Within each segment the robot is controlled as a decoupled linear system by means of conventional PID controllers. To achieve continuity of control variables the segments are represented as fuzzy sets. The controller settings are adapted by online identification...
Automation in ground vehicles has been gaining momentum in recent years highlighted by the significant number of public demonstrations in the last two decades. This momentum has created an urgency within research organizations, vehicle manufacturers and academia to solve existing problems with autonomous vehicle technology to make it usable in the real world. As autonomous ground vehicles operate...
This paper proposes path planning and motion control for a 3 DOF massage robot. The trajectory planning and implementation is achieved through the feedback of position coordinates of end effector thereby controlling the motion of the robot along X and Z axis. A new and compact design consisting of magnetic proximity sensors and magnets was proposed for the end effector design to detect the subject...
Advanced control strategies for efficiency optimization in interior PMSMs are usually model-based, potentially providing very accurate results and good performance at the cost of parameter dependency and the associated drawbacks. Search-based methods, on the contrary, perform more modestly but depend neither on models nor on parameters. This paper compares both approaches in terms of steady-state...
Ball and Plate system is a well-known benchmark to test control strategies because of its multivariable nonlinear coupled dynamics, open loop instability and under actuation. Moreover, presence of parameter uncertainty and external disturbance makes it further challenging and interesting. This calls for a robust controller which not only stabilises the ball on the plate but also makes the ball follow...
Manual motion control (MMC) problems are seen in the conveyance of a large amount of products in factories and stores. One of the most successful examples of MMC is power assist. The power-assisted systems have been introduced to reduce workers' loads in industrial production. In near future, in order to improve its efficiency, the power-assisted systems should include automatic operational modes...
The robotic arm used in minimally invasive surgery enters patient's body through a port which constrains its end-effector translation along two axes. We aim to achieve the minimally-invasive operations using a general articulated robotic arm (GARA). The algorithm is applicable to articulated robotic arm independent of its design; given only end-link is constrained. Geometric transformations based...
Three dimensional (3D) printing can be used to manufacture many different objects range from toys to hi-tech robot parts. This paper investigates 3D printer trajectory planning to improve the speed of the printing process. The printing speed mainly depends on the motion speed and path of the printing nozzle. We use triangular and trapezoidal velocity profiles to minimize the transition time between...
This paper presents a solution to the trajectory-tracking control problem of an Autonomous Surface Vehicle (ASV) under the effect of sea waves. Worldwide, there has been increasing interest in the use of ASVs to execute missions of increasing complexity without direct supervision of human operators. A key-enabling element for the execution of such missions is the availability of advanced systems for...
This article describes universal control system mainly for mobile robots with differential drive. The first section is introduction into the problem of mobile robotics and contains requirements on control system. Second section describes individual parts of designed control system focusing on motion control and in the last section is devoted to testing of designed control system on real mobile robot.
This paper presents a novel smooth polynomial trajectory generation technique for machine tools and high-speed motion systems. A major source of vibrations in fast moving high performance production machines are the inertial vibrations that are mainly excited due to frequency content of the reference command generator, so called the trajectory generator. In general practice, those inertial vibrations...
Perceptual mechanisms humans use in motion planning and guidance are responsible for their agile and versatile capabilities. Their understandings would help advance both autonomous control and improve human-machine interfaces. This paper extends prior work by collecting human trajectory and gaze data while performing simulated first-person motion guidance tasks. This data is considered under the hypothesis...
Kinematic analysis of a 2-d of offensive and defensive football match manipulator was proposed through the trial of football in this paper. A forward and reverse mathematic model of manipulator was founded. PLC programming software Sysmac Studio of OMRON was used for controlling the motion of the manipulator. The model calculation and predication show good agreement with the actual results, which...
The problem of time-optimal trajectory design for high performance point-to-point positioning system under state and control constraints is considered. The proposed solution takes into account Coulomb and viscous friction. A particular structure for the trajectory is postulated, and conditions for its optimality are proven using the Pontryagin Maximum Principle. The explicit solution for the co-states...
This paper investigates the motion control for a nonholonomic mobile manipulator with the objective of simultaneously controlling the velocity of the mobile base and the motion of the end-effector. Both the reference velocity for the mobile base and the reference trajectory for the end-effector are specified in the task-space. A steering velocity is designed based on the steering system of the mobile...
Conventional agricultural fields are sprayed uniformly to control weeds, insects, and diseases. To reduce cultivation expenses, to produce healthier food and to create more environmentally friendly farms, chemicals should only be applied to the right place at the right time and exactly with the right amount. In this article, a task and motion planning for a team of autonomous vehicles to reduce chemicals...
The main enthusiasm of the use of MPC in this study relies on its ability in including state and control constraints that naturally comes up in practical problems. At the same time, nonlinearity of constraints compels the numerical solution of optimization problem. Therefore, a number of intelligent algorithms to overcome nonlinear optimization of the cost function is reviewed, however, their time...
In this paper, a two-degree-of-freedom-control concept for a flexible single-link robot is considered offering trajectory tracking as well as vibration damping. The robot — a flexible link with tip mass attached to a moving cart — is modeled as distributed parameter system including structural damping. The proposed forward controller is designed based on the exact modal approximation of the system...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.