共查询到12条相似文献,搜索用时 78 毫秒
1.
H-infinity control problem for linear discrete-time systems with instantaneous and delayed measurements is studied. A necessary and sufficient condition for the existence of the H-infinity controller is derived by applying reorganized innovation analysis approach in Krein space. The measurement-feedback controller is designed by performing two Riccati equations. The presented approach does not require the state augmentation. 相似文献
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Stability and control of dynamic walking for a five-link planar biped robot with feet 总被引:1,自引:0,他引:1
During dynamic walking of biped robots, the underactuated rotating degree of freedom (DOF) emerges between the support foot and the ground, which makes the biped model hybrid and dimension-variant. This paper addresses the asymptotic orbit stability for dimension-variant hybrid systems (DVHS). Based on the generalized Poincare map, the stability criterion for DVHS is also presented, and the result is then used to study dynamic walking for a five-link planar biped robot with feet. Time-invariant gait planning and nonlinear control strategy for dynamic walking with fiat feet is also introduced. Simulation results indicate that an asymptotically stable limit cycle of dynamic walking is achieved by the proposed method. 相似文献
3.
Bin picking by a robot in real time requires the performance of a series of tasks that are beyond the capabilities of commercially available state-of-the-art robotic systems. In this paper, a laser-ranging sensor for real-time robot control is described. This sensor is incorporated into a robot system that has been applied to the bin-picking or random-parts problem. This system contains new technological components that have been developed recently at the Environmental Research Institute of Michigan (ERIM). These components (the 3-D imaging scanner and a recirculating cellular-array pipeline processor) make generalized real-time robot vision a practical and viable technology. This paper describes these components and their implementation in a typical real-time robot vision system application. 相似文献
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Modeling and simulation of an artificial muscle and its application to biomimetic robot posture control 总被引:4,自引:0,他引:4
The shape memory effect exhibited by Nitinol wire can be utilized to construct an artificial muscle. The muscle is activated by an electric current, which produces heat and initiates a phase transformation. The Nitinol artificial muscle stress–strain–power relationship was determined by experiments, and a mathematical model was developed. The artificial muscle model was utilized for the posture control of a biomimetic underwater robot. The optimal activation patterns for height, pitch, and roll postures were determined. Simulation results for the height postures are in agreement with the experiments. The separation between the center of gravity and the centroid of the robot has a stabilizing effect on pitch and roll postures. 相似文献
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Quang Sang Nguyen Seok Heo Hoon Cheol Park Nam Seo Goo Taesam Kang Kwang Joon Yoon Seung Sik Lee 《International Journal of Control, Automation and Systems》2009,7(2):267-272
In this paper, we have introduced a prototype of a fish robot driven by unimorph piezoceramic actuators. To improve the swimming
performance of the fish robot in terms of tail-beat angle, swimming speed, and thrust force, we used four light-weight piezo-composite
actuators (LIPCAs) instead of the two LIPCAs used in the previous model. We also developed a new actuation mechanism consisting
of links and gears. Performance tests of the fish robot were conducted in water at various tail-beat frequencies to measure
the tail-beat angle, swimming speed, and thrust force. The tail-beat angle was significantly better than that of the previous
model. The best tail-beat frequency of the fish robot was 1.4 Hz and the maximum thrust force was 0.0048 N. A miniaturized
power supply, which was developed to excite the LIPCAs, was installed inside the fish robot body for free swimming. The maximum
free-swimming speed was 3.2 cm/s.
Recommended by Editorial Board member Hyoukryeol Choi under the direction of Editor Jae-Bok Song. This work was supported
by the Korea Research Foundation under grant KRF-2004-005-D00045.
Quang Sang Nguyen received the BS (2001) and MS (2006) from Hochiminh City University of Technology, Vietnam. Formerly an assistant lecturer
of Naval Architect and Marine Engineering, Hochiminh City University of Technology, Vietnam (2001-2006), he is currently a
Ph.D. student at the Department of Advanced Technology Fusion, Konkuk University. His specialty is biomimetic system design
and smart material application.
Seok Heo received the B.S., M.S. and Ph.D. degrees in Mechanical Engineering from Dongguk University in 1998, 2000, and 2003, Respectively.
Currently he is a Research Professor at the Artificial Muscle Researcch Center, Konkuk University, Seoul, Korea. His research
interests include biomimetics, vibration analysis, system design and control, and smart materials and structures.
Hoon Cheol Park received the B.S. (1985) and M.S. (1987) from Seoul National University in Seoul, Korea and Ph.D. (1994) from the University
of Maryland at College Park, MD, USA. He joined the Department of Aerospace Engineering, Konkuk University in Seoul, Korea,
in 1995, and he is currently a Professor in the Department of Advanced Technology Fusion. His professional experience includes
Kia Motors (1986–1988) and Korea Aerospace Research Institute (1994–1995). His specialty is finite element analysis and his
recent research has focused on biomimetics.
Nam Seo Goo graduated with honors in 1990 from the Department of Aeronautics Engineering of Seoul National University, and he got a masters
degree and Ph.D. from the Department of Aerospace Engineering at the same university in 1992 and 1996, respectively. His Ph.D.
thesis was on the structural dynamics of aerospace systems. As soon as he obtained the Ph.D. he entered the Agency for Defense
development as a senior researcher. In 2002, after four years of service, he joined the Department of Aerospace Engineering
at Konkuk University, Seoul, Korea, where he is currently serving as an Associate Professor of the Department of Advanced
Technology Fusion. His current research interests include structural dynamics of small systems, smart structures and materials,
and MEMS applications.
Taesam Kang is a Professor of the Department of Aerospace and Information System Engineering, Konkuk University. He received the B.S.,
M.S. and Ph.D. degrees from Seoul National University in 1986, 1988 and 1992, respectively. His current research areas are
robust control theories and the application of those theories with regard to flight control, development of micro-aerial vehicles
and fish robots.
Kwang Joon Yoon was awarded the BS (1981) and M.S. (1983) in Aeronautics Engineering from Seoul National University and Ph.D. (1990) in Aeronautics
and Astronautics Engineering from Purdue. Since 1991 he has been a Professor at Konkuk University in Korea, where he is currently
a Professor of Aerospace Engineering, the Director of the National Research Laboratory for Active Structures and Materials,
the Director of the Artificial Muscle Research Center, and the Director of the Smart Robot Center. His current research interests
include smart structures and materials, micro-aerial vehicles, and insect-mimetic micro-robot systems.
Seung Sik Lee received the B.S. (1996) and M.S. (1998) in Civil Engineering from Hongik University in Seoul, Korea and Ph.D. (2003) in
Civil Engineering from Georgia Institute of Technology, GA, USA. Currently he is a Senior Researcher at Korea Institute of
Marine Science & Technology Promotion. 相似文献
8.
This study develops a 6-DOF mathematical model for a robotic fish that considers surge, sway, heave, roll, pitch, and yaw. The model considers the conditions of a fish swimming in ocean current perturbations similar to the ocean current perturbations of the slender-body autonomous underwater vehicles. For swimming and turning behaviors, a nonlinear, dynamic, carangiform locomotion model is derived by using a planar four-link model. A 2-DOF barycenter mechanism is proposed to provide body stabilization and to serve as an actuating device for active control design. A barycenter control scheme is developed to change the center of gravity of the robot fish body by moving balancing masses along two axes. The projected torque on x and y axes propel pitch and roll angles to the desired settings. A Stabilizing controller, fish-tail mechanism, rigid body dynamics, and kinematics are incorporated to enable the fish robot to move in three dimensional space. Simulation results have demonstrated maneuverability and control system performance of the developed controller which is proposed to conduct path tracking of the robot fish as it swims under current perturbations. 相似文献
9.
根据仿生尺蠖运动机理研制了一种用于人体腔道微创诊查的气动微机器人系统。该机器人系统由前支撑单元、后支撑单元和具有3个气室的橡胶驱动器三部分组成。设计了控制机器人移动的计算机电-气控制系统,通过控制该电-气系统的继电器和高速开关电磁阀来控制机器人系统的钳位气囊和驱动器气室内的气压。通过分析一个运动周期内机器人的运动状态,给出了机器人移动的控制算法,使机器人前、后支撑单元的气囊和驱动器的气室实现有规律的充气、保持及放气3种状态,从而实现有规律的运动。研究结果表明所设计的机器人具有仿生尺蠖移动机理的柔性结构,通过所设计的电-气控制系统可实现机器人的自动移动。 相似文献
10.
This article describes the performance of 3-D positioning control by linear visual servoing using binocular visual space in
a human-like hand-eye system which has a similar kinetic structure to a human being. We approximate the nonlinear time-variant
mapping from a binocular visual space to the joint space of the manipulator as a linear time-invariant mapping. We also investigate
the effect of binocular visual space in linear mapping by comparing it with linear mapping using Cartesian space. Some experimental
results are presented using the human-like hand-eye system to demonstrate the performance of 3-D positioning control.
This work was presented, in part, at the Seventh International Symposium on Artificial Life and Robotics, Oita, Japan, January
16–18, 2002 相似文献
11.
This article deals with the design of a control system for a quadrupedal locomotion robot. The proposed control system is
composed of a leg motion controller and a gait pattern controller within a hierarchical architecture. The leg controller drives
actuators at the joints of the legs using a high-gain local feedback control. It receives the command signal from the gait
pattern controller. The gait pattern controller, on the other hand, involves nonlinear oscillators. These oscillators interact
with each other through signals from the touch sensors located at the tips of the legs. Various gait patterns emerge through
the mutual entrainment of these oscillators. As a result, the system walks stably in a wide velocity range by changing its
gait patterns and limiting the increase in energy consumption of the actuators. The performance of the proposed control system
is verified by numerical simulations.
This work was presented in part at the Fifth International Symposium on Artificial Life and Robotics, Oita, Japan, January
26–28, 2000 相似文献
12.
Locomotion control of legged robots is a very challenging task because very accurate foot trajectory tracking control is necessary for stable walking. An electro-hydraulically actuated walking robot has sufficient power to walk on rough terrain and carry a heavier payload. However, electro-hydraulic servo systems suffer from various shortcomings such as a high degree of nonlinearity, uncertainty due to changing hydraulic properties, delay due to oil flow and dead-zone of the proportional electromagnetic control valves. These shortcomings lead to inaccurate analytical system model, therefore, application of classical control techniques result into large tracking error. Fuzzy logic is capable of modeling mathematically complex or ill-defined systems. Therefore, fuzzy logic is becoming popular for synthesis of control systems for complex and nonlinear plants. In this investigation, a two-degree-of-freedom fuzzy controller, consisting of a one-step-ahead fuzzy prefilter in the feed-forward loop and a PI-like fuzzy controller in the feedback loop, has been proposed for foot trajectory tracking control of a hydraulically actuated hexapod robot. The fuzzy prefilter has been designed by a genetic algorithm (GA) based optimization. The prefilter overcomes the flattery delay caused by the hydraulic dead-zone of the electromagnetic proportional control valve and thus helps to achieve better tracking. The feedback fuzzy controller ensures the stability of the overall system in the face of model uncertainty associated with hydraulically actuated robotic mechanisms. Experimental results exhibit that the proposed controller manifests better foot trajectory tracking performance compared to single-degree-of-freedom (SDF) fuzzy controller or optimal classical controller like state feedback LQR controller. 相似文献