自适应模糊与CMAC并行的机器人力/位置控制

为提高机器人系统对机器人末端操纵器与外界工作环境接触时，其接触刚度不确定性的自适应能力，在机器人力／位置混合控制的基础上，设计出了一种基于自适应模糊与CMAC并行控制的机器人力控制器，采用小脑模型神经控制器实现前馈控制，实现被控对象的逆动态模型，自适应模糊控制器实现反馈控制，保证系统的稳定性，且抑制扰动。以平面两关节机器人进行仿真，仿真结果表明，系统的自适应能力和力跟踪能力有显著的提高，机械手在其末端操纵器与刚性变化范围较大的外界工作环境接触时，具有较强的适应能力，较好地完成了机器人的力／位置控制。     

直接在位置控制机器人上实现力/位置自适应模糊控制

本文提出一种直接在位置控制机器人上实现力／位置自适应模糊控制的方案，使得对于一般工业机器人，在不改变其原有位置控制器的前提下，实现力／位置控制．仿真结果表明，该控制方法使机器人控制系统对工作环境接触刚度的自适应能力得到显著的改善．     

自重构机器人机载控制系统的开发

本文主要介绍了自重构机器人机载控制系统的硬件和软件设计,在硬件设计中各功能模块尽量采用高度集成的控制芯片,使机器人任务的调度与执行分离,软件设计充分考虑硬件的特点,采用了状态机结构。实验表明,该控制系统工作可靠,实时性强,而且有利于实现机器人团队的智能化控制。     

多感知能力新型夹持器控制器设计

叙述了机器人夹持器中的力觉，触觉，位置检测装置以及多感知能力新型夹持器控制器硬件和软件的设计原理和实现方法。     

PUMA760切割作业力与位置混合控制

本文介绍在 PUMA760 上实现了的切割作业控制系统。我们在 PUMA760 控制系统中引进了力传感器信号,加入了力控制算法,通过调整机器人手部位置,控制机器人与环境物体间的相互作用力。在 VAL 系统中加入了根据传感器信号动作的指令,实现了一种机器人力与位置的混合控制。用扩充后的 VAL 系统编程,成功地使 PUMA760完成了多种材料的切割作业。     

机器人力控制算法试验平台的设计与实现

本文针对机器人力控制算法试验平台搭建中力传感器通讯模块的软件设计与实现做了详细研究。该试验平台采用CAN2.0A协议,并利用该协议实现了力传感器与机器人控制器之间的通讯。从控制算法试验的效果来看,该平台达到了力控制试验的要求,具有良好的应用价值。     

基于CAN总线的机器人网络互联

根据工业机器人的应用现状，利用现有的控制技术，结合控制局域网（CAN）技术和通信技术，通过对现有的机器人控制器进行硬件改进和软件开发，并相应开发出上位机监控系统，实现了多台机器人的网络互联，最终实现基于CAN网络的机器人生产线集成系统。     

基于改进型BP网络的并联机器人自适应力控制

并联机器人力控制是并联机器人研究的一个热点和难点，引起了许多学者的关注，并取得了一定的成果。多数使用了传统的力控制研究方法。该文中，作者将神经网络引入并联机器人的力控制中，并介绍了一种改进型BP神经网络，以及其学习算法和网络的训练过程，并结合实际并联机器人6-SPS并联机器人，设计出基于改进型BP神经网络的并联机器人自适应力控制器，并进行了仿真和实验研究，通过研究表明所设计的控制器是可行和有效的。     

基于DSP的足球机器人控制电路设计

从改善足球机器人控制电路性能的目的出发，分析了用普通单片机控制的足球机器人在比赛中的缺陷，对普通单片机和DSP芯片两种控制芯片的性能作了简单的比较，详细介绍了用美国德州仪器(TI)公司生产的TMS320LF2407A芯片作为电路控制芯片，设计足球机器人控制电路的方法。并在实际控制过程中采用PID算法。实现了足球机器人软件控制与硬件的结合。成功地把基于DSP的足球机器人应用于实际的比赛中，实际效果显示与基于普通单片机的机器人相比，性能有了较大的提高，对机器人的控制可以得到更令人满意的结果。     

6-DOF并联机器人修正位置/力控制系统的研究

该文在６－ＤＯＦ并联机器人运动控制系统的基础上，研究了一种修正位置／力控制系统，讨论了系统设计与实现中一些关键性技术问题．文中内容对改善并联机器人控制质量与性能大有益处．     

Intelligent robotic control

A theoretical approach is developed to deal with man-machine interactive systems requiring advanced decision making in unpredictable environments. The hierarchical method consists of a three-layer control of "increasing intelligence and decreasing precision." The lowest level consists of several controllers designed for effective control with existing hardware using an approximation theory of optimal control. The next level is that of a coordinator which utilizes new computer architectures to effectively control the overall hardware system. The highest level is the organizer which supervises the performance of the overall system. Both highest levels are computer implemented and the research involved is in developing the appropriate architecture and software to accommodate others. The lowest level, aimed for end-point control tasks, is dominated by typical hardware control methods. The coexistence of the two approaches makes the method novel. Application of intelligent control techniques to robotics and manipulative systems is considered.     

双PWM变换器的异步电机矢量控制系统设计

针对传统的双PWM变换器的异步电机矢量控制误差率很高这一问题,设计了一种新的异步电机矢量控制系统,分别对系统硬件和软件进行设计,硬件架构图中重点对硬件电机结构、DSP芯片和编程器进行设计。根据设计的系统硬件建立软件工作流程,软件共分为系统初始化、中断控制、PWM信号封锁、报警保护和数据通信五步,对每一个工作步骤做了详细的阐述。通过仿真实验验证了该矢量控制系统的实际工作效果,实验结果表明,所设计的系统具有很强的鲁棒性,控制性能远远好于传统系统,市场发展潜能大,对于异步电机发展有一定的指导意义。     

Robot manipulator control system

The paper analyzes design concepts for up-to-date robot manipulator control systems. Approaches to building software and hardware architecture are described. The developed IntNCR control system is examined.     

混合驱动水下自航行器控制系统设计

将32位ARM微处理器应用于混合驱动水下自航行器的控制系统。首先介绍了混合驱动AUV控制系统的总体体系结构,将CAN总线应用于混合驱动AUV,开发了基于CAN总线的分布式控制系统;简单介绍了以ARM7微处理器LPC2129为主控制芯片的控制系统硬件设计;制定了适用于混合驱动AUV的CAN应用层协议和相应的软件,遵照分层递阶的体系结构设计了控制系统的软件,并采取软硬件相结合的方法解决了控制系统的可靠性问题。联调实验证明该系统性能稳定、工作可靠。     

Real-time-based control system for a group of autonomous walking robots

The design target of complex control systems for novel robots with advanced motion abilities is to produce controllers (hardware and software) which are easy to program, re-program and debug. Those systems must be enabled to implement different motion principles with different hardware extensions (actuators, sensors, etc.). This paper introduces the problem of evaluation of hardware architecture together with the hardware type. We use the experience collected during realization of several prototypes of walking machines. The dedicated communication scheme elaborated for an embedded system is addressed in detail. The communication scheme can be used in every other system controlling the walking machine or controlling other robotic device. The navigation principles applied for a group of hexapods are briefly discussed for a better explanation of the functional structure of the implemented control system. The system actions are introduced. The system structure can be used for the control not only of a single mobile robot, but also a robot as a member of a group.     

基于SOC架构的智能图像处理和外设控制系统设计

针对当前采用的DSP+FPGA实时图像处理和控制系统的不足,提出了一种基于SOC架构的智能图像处理和控制系统,该系统硬件上使用SOC架构进行算法电路实现和外设控制,能够对所获取的图像进行跟踪、识别和匹配等图像处理,同时根据软件配置对外部器件进行控制和交互;通过对大尺寸卷积运算的验证试验,结果表明所设计的SOC架构具有通用性好、可靠性高、处理速度快和控制精准的特点,能够完全适应高复杂的卷积运算。     

A hierarchical expert system for computer process control

This paper reports on the design and implementation of an expert system for computer process control (HESCPC). The complexity of the expertise necessary for computer process control applications requires that the expert system architecture be structured into a hierarchy of classes of specialized experts. The architecture of HESCPC integrates four classes of expert systems: operator/manager companion expert class, control system algorithm design expert class, hardware expert class, and software expert class. The paper is concerned with the design and implementation of the general system architecture, an operator adviser expert for a nuclear power plant and a control system designer expert using a state space feedback approach. Although the design and implementation aspects of all experts are discussed, the emphasis is on the latter.

At this stage of the HESCPC development, the declarative knowledge represented by 423 metarules and 1261 rules is distributed on a hierarchical structure among 20 experts on different levels of the hierarchy which are able to communicate among themselves to solve difficult control problems.

Examples of control system design sessions of linear mono and multivariable systems using feedback state space approach are given. A run time of an operator-adviser data-driven expert system for a nuclear plant is also presented.     

NASA laboratory telerobotic manipulator control system architecture

In support of the National Aeronautics and Space Administration (NASA) goals to increase the utilization of dexterous robotic systems in space, the Oak Ridge National Laboratory (ORNL) has developed the Laboratory Telerobotic Manipulator (LTM) system. It is a dexterous, dual-arm, force-reflecting teleoperator system with robotic features for NASA ground-based research. This article describes the overall control system architecture, including both hardware and software. The control system is a distributed, modular, and hierarchical design with flexible expansion capabilities for future enhancements of both hardware and software.     

A PC-based open robot control system: PC-ORC

An open architecture manufacturing system pursues to integrate manufacturing components on a single platform. Therefore, a particular component can be easily added and/or replaced. In this paper, a modular and object-oriented approach for the PC-based open robot control (PC-ORC) system is investigated. A standard reference model for controlling robots, which consists of a hardware platform, an operating system module, and various application software modules, is first proposed. Then, PC-ORC system, which can reconfigure the control system in various production environments, is developed. The PC-ORC is constructed based upon the object-oriented method. Hence, it allows an easy implementation and modification of various modules. The PC-ORC consists of basic software, application objects, and additional hardware devices on a PC platform. Finally, by applying the proposed PC-ORC to a SCARA robot, the performance of the PC-ORC is examined.