共查询到20条相似文献,搜索用时 109 毫秒
1.
This paper proposes an adaptive controller for partially known system and applies to a two-wheeled Welding Mobile Robot (WMR)
to track a reference welding path at a constant velocity of the welding point. To design the tracking controller, the errors
from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as desired. Additionally,
a scheme of error measurement is implemented on the WMR to meet the need of the controller. In this paper, the system moments
of inertia are considered to be partially unknown parameters which are estimated using update laws in adaptive control scheme.
The simulations and experiments on a welding mobile robot show the effectiveness of the proposed controller. 相似文献
2.
Sliding mode control of two-wheeled welding mobile robot for tracking smooth curved welding path 总被引:1,自引:0,他引:1
In this paper, a nonlinear controller based on sliding mode control is applied to a two-wheeled Welding Mobile Robot (WMR)
to track a smooth curved welding path at a constant velocity of the welding point. The mobile robot is considered in terms
of dynamics model in Cartesian coordinates under the presence of external disturbance, and its parameters are exactly known.
It is assumed that the disturbance satisfies the matching condition with a known boundary. To obtain the controller, the tracking
errors are defined, and the two sliding surfaces are chosen to guarantee that the errors converge to zero asymptotically.
Two cases are to be considered : fixed torch and controllable torch. In addition, a simple way of measuring the errors is
introduced using two potentiometers. The simulation and experiment on a two-wheeled welding mobile robot are provided to show
the effectiveness of the proposed controller. 相似文献
3.
Hyeung-Sik Choi Changman Lee Changhun Chun 《Journal of Mechanical Science and Technology》2006,20(8):1159-1168
In this paper, a new revolute mobile robot arm with five degree of freedom (d.o.f) was developed for autonomous moving robots.
As a control system for the robot arm, a distributed control system composed of the main controller and five motor controllers
for arm joints was developed. The main controller and the motor controllers were developed using the ARM microprocessor and
the TMS320c2407 microprocessor, respectively. A new trajectory tracking algorithm for the motor controllers was devised employing
pre-generated off-line trajectory data. Also, a 3-D simulator based on the OpenGL software to simulate the motion of the robot
arm was developed. To validate the performance of the robot system, experiments to track a specified trajectory were performed. 相似文献
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With the development of the similarity calculation method, the orbital motion of space vehicle can be translated into a sequence of waypoints that reflect position and velocity on the ground. In this paper, a motion control system is proposed to make the mobile robot pass through the desired waypoints for reconstructing the orbital motion. First, the parameterized trajectory optimization method is applied to generate a curvature-continuous trajectory from the waypoints, the position and velocity demands are presented as the equality constraints. Virtual positions are introduced to reduce the oscillation, and the total execution time of the whole trajectory is selected as the optimization parameter to reduce the computational burden. Then, an equivalence transformation is provided to translate the error system into an affine form, which is beneficial for the feedback controller design. Based on this, a nonlinear trajectory tracking controller is proposed, which includes a feedforward controller and an error feedback controller, and its exponential stability is proved using Persistency of Excitation Lemma. In addition, a shunting neural dynamics model is employed to avoid sharp velocity jumps. Finally, the performed experiments verify the effectiveness of the proposed method. 相似文献
7.
Yoonsu Nam 《Journal of Mechanical Science and Technology》1993,7(4):330-348
For a high bandwidth, accurate end of arm motion control with good disturbance rejection, the Momentum Management Approach
to Motion control (MMAM) is proposed. The MMAM is a kind of position control technique that uses inertial forces, applied
at or near the end of arm to achieve high bandwidth and accuracy in movement and in the face of force disturbances. To prove
the concept of MMAM, the end point control of a flexible manipulator is considered. For this purpose, a flexible beam is mounted
on the x-y table, and the MMAM actuator is attached on the top of the flexible beam. A mathematical model is developed for
the flexible beam being controlled by the MMAM actuator and slide base DC motor. A system identification method is applied
to estimate some system parameters in the model which can not be determined because of the complexity of the mechanism. In
order to optimize the result of the position (/velocity) estimation of a beam end point of which movement is monitored by
an accelerometer and machine vision, a Kalman filter technique is applied. For the end point control of the flexible beam,
the optimal linear output feedback control is applied. 相似文献
8.
In this paper, mobile manipulator is divided into two subsystems, that is, nonholonomic mobile platform subsystem and holonomic manipulator subsystem. First, the kinematic controller of the mobile platform is derived to obtain a desired velocity. Second, regarding the coupling between the two subsystems as disturbances, Lyapunov functions of the two subsystems are designed respectively. Third, a robust adaptive tracking controller is proposed to deal with the unknown upper bounds of parameter uncertainties and disturbances. According to the Lyapunov stability theory, the derived robust adaptive controller guarantees global stability of the closed-loop system, and the tracking errors and adaptive coefficient errors are all bounded. Finally, simulation results show that the proposed robust adaptive tracking controller for nonholonomic mobile manipulator is effective and has good tracking capacity. 相似文献
9.
The control scheme using fuzzy modeling and Parallel Distributed Compensation (PDC) concept is proposed to provide asymptotic
tracking of a reference signal for the flexible joint manipulators with uncertain parameters. From Lyapunov stability analysis
and simulation results, the developed control law and adaptive law guarantee the boundedness of all signals in the closed-loop
multi-input/multi-output system. In addition, the plant state tracks the state of the reference model asymptotically with
time for any bounded reference input signal. 相似文献
10.
A robust position control with the bound function of neural network structure is proposed for uncertain robot manipulators.
The uncertain factors come from imperfect knowledge of system parameters, payload change, friction, external disturbance,
and etc. Therefore, uncertainties are often nonlinear and time-varying. The neural network structure presents the bound function
and does not need the concave property of the bound function. The robust approach is to solve this problem as uncertainties
are included in a model and the controller can achieve the desired properties in spite of the imperfect modeling. Simulation
is performed to validate this law for four-axis SCARA type robot manipulator. 相似文献
11.
Hag Seong Kim Youngbo Shim Young Man Cho Kyo-II Lee 《Journal of Mechanical Science and Technology》2002,16(8):1053-1063
This paper presents a robust nonlinear controller for a 6 degree of freedom (DOF) parallel manipulator in the task space coordinates.
The proposed control strategy requires information on orientations and translations in the task space unlike the joint space
or link space control scheme. Although a 6 DOF sensor may provide such information in a straightforward manner, its cost calls
for a more economical alternative. A novel indirect method based on the readily available length information engages as a
potential candidate to replace a 6 DOF sensor. The indirect approach generates the necessary information by solving the forward
kinematics and subsequently applying alpha-beta-gamma tracker. With the 6 DOF signals available, a robust nonlinear task space
control (RNTC) scheme is proposed based on the Lyapunov redesign method, whose stability is rigorously proved. The performance
of the proposed RNTC with the new estimation scheme is evaluated via experiments. First, the results of the estimator are
compared with the rate-gyro signals, which indicates excellent agreement. Then, the RNTC with on-line estimated 6 DOF data
is shown to achieve excellent control performance to sinusoidal inputs, which is superior to those of a commonly used proportional-plus-integral-plus-derivative
controller with a feedforward friction compensation under joint space coordinates and the nonlinear controller under task
space coordinates. 相似文献
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Keum -Shik Hong Kang -Ryeol Lee Kyo -Il Lee 《Journal of Mechanical Science and Technology》1999,13(1):1-10
An open loop vibrational control for an underactuated mechanical system with amplitude and frequency modulation is investigated.
Since there is no direct external input to an unactuated joint, the dynamic coupling between the actuated and unactuated joint
is utilized for controlling the unactuated joint. Feedback linearization has been performed to fully incorporate the known
nonlinearities of the underactuated system considered. The actuated joints are firstly positioned to their desired locations,
and then periodic oscillatory inputs are applied to the actuated joints to move the remaining unactuated joints to their target
positions. The amplitudes and frequencies of the vibrations introduced are determined through averaging analysis. A systematic
way of obtaining an averaged system for the underactuated system via a coordinate transformation is developed. A manipulator
in the zero gravity space can be vibrationally controlled in the event of actuator failure. A control design example of the
2R planar manipulator with a free joint with no brake is provided. 相似文献
15.
This paper proposes a sliding mode controller with fuzzy adaptive perturbation compensator (FAPC) to get a good control performance
and reduce the chatter. The proposed algorithm can reduce the chattering because the proposed fuzzy adaptive perturbation
compensator compensates the perturbation terms. The compensator computes the control input for compensating unmodeled dynamic
terms and disturbance by using the observer-based fuzzy adaptive network (FAN). The weighting parameters of the compensator
are updated by on-line adaptive scheme in order to minimize the estimation error and the estimation velocity error of each
actuator. Therefore, the combination of sliding mode control and fuzzy adaptive network gives the robust and intelligent routine
to get a good control performance. To evaluate the control performance of the proposed approach, tracking control is experimentally
carried out for the hydraulic motion platform which consists of a 6-DOF parallel manipulator. 相似文献
16.
The re-entry problem consists of guidance design and trajectory control. This paper summarizes the detailed relationships
between the velocity, drag acceleration and altitude in determining reference trajectories. The computational issues are also
addressed, and the performance of the proposed simple nonlinear control of a bank angle for the longitudinal/lateral trajectory
is demonstrated. In particular, the fixed bank angle methods that can reduce the drag acceleration errors at low-speeds are
proposed. The importance of bank reversals with respect to the azimuth errors is also elucidated. 相似文献
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超超临界锅炉是今后火电机组的发展方向,在超超临界锅炉受热面管系中,由于受到结构布置等原因大量使用活动连接件,目前全部采用焊条电弧焊(SMAW)技术,产品制造精度不高,产品质量不稳定,生产效率低下。针对活动连接件的焊接技术要求以及分布规律、件形状、尺寸一致的特点,设计了龙门式气体保护焊接机器人机械结构,使用OTC的DP400全数字IGBT逆变控制直流脉冲自动焊接电源,构建了基于触摸屏的自动焊PLC控制系统。该系统能实现多组合的焊接参数设定,优化焊接工艺参数匹配。 相似文献
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Zhiqi Liu Tatsuya Nakamura 《The International Journal of Advanced Manufacturing Technology》2007,31(7-8):797-804
This paper researches how to realize the automatic assembly operation on a two-finger precision manipulator. A multi-layer
assembly support system is proposed. At the task-planning layer, based on the computer-aided design (CAD) model, the assembly
sequence is first generated, and the information necessary for skill decomposition is also derived. Then, the assembly sequence
is decomposed into robot skills at the skill-decomposition layer. These generated skills are managed and executed at the robot
control layer. Experimental results show the feasibility and efficiency of the proposed system. 相似文献