This paper presents a position control strategy for a planar active-passive-active (APA) underactuated manipulator with second-order nonholonomic characteristics. According to the structural characteristics of the planar APA system, we divide the system into two parts: a planar virtual Pendubot (PVP) and a planar virtual Acrobot (PVA). For the PVP, we mainly fulfill the target angle of the first link, which is calculated through the geometry method, and make the system stable. In this stage, via keeping the states of the third link being zero, the system is reduced to the PVP. Meanwhile, we design an open-loop control law based on the nilpotent approximation (NA) model of the PVP to make the second link stable and the first link stabilize at its target angle. Then, the planar APA system is reduced to a PVA with all links’ angular velocities being zero. For the PVA, we mainly realize the other two links’ target angles obtained via the particle swarm optimization (PSO) algorithm. Thus, the control objective of the planar APA system is achieved. Finally, above control strategy is verified by simulation results.
Unlike a fully-actuated manipulator, the position-posture control of a planar underactuated manipulator (PUM) is more difficult, but the research on it is significant due to the wide practical applications. The existing control methods consider no external disturbance and are involved in the staged control idea, bringing the problems of nonsmooth control torque and time-consuming. A novel one-stage control approach is proposed in this paper for the position-posture control of a three-link PUM with the first free joint under the external disturbance. By analyzing the coupling relationship between its active joints and free joint, the position-posture control is transformed into the trajectory tracking control. Unlike the general trajectory planning, the trajectories of the active joints are planned to include several parameters. Meanwhile, the parameters are solved using a chaos particle swarm optimization algorithm to guarantee that all joint angles can reach to their desired angles. Then, to obtain the high trajectory tracking accuracy at every moment under the external disturbance, the nonlinear disturbance observer is constructed and a nonlinear fast terminal sliding mode tracking controller is designed. Finally, the feasibility and superiority of this strategy are verified via two simulations.
In shape memory materials,that have been trained to have a two way shape memory effect(TWSM),themartensitic variants are classified into two groups,i.e.,preferentially oriented variants and self-accommodatingvariants.Applied stress may promote or constrain the transition of preferentially oriented variants and so changetransformation temperatures but has no essential effect on self-accommodating variants.According to the pointof view mentioned above,some experimental phenomena during thermocycling of a TWSM device may be ex-plained,such as the absence of synchronization between the plot of resistance change.temperature and the plotof memory strain vs.temperature. 相似文献
For production of fine-grained and corrosion-resistant tungsten carbide (WC) based cemented carbides, addition of chromium
carbide (Cr33C2) in small amounts is standard practice. No systematic study, however, has been made of the effects of large additions (maximum
6 wt % ) of Cr3C2 as a substitute for tungsten carbide. This study focuses on the effect of hard-phase substitution by C3C2 in WC-1OCo cemented carbide. An attempt is also made to modify the binder metal cobalt by partial or complete substitution
of nickel. Specimens were prepared using the standard liquid-phase sintering process and were tested for sintered porosity,
mechanical properties, corrosion resistance, and microstructural parameters. Results confirm the findings of earlier workers
regarding grain refinement and improvement of mechanical properties upon the addition of small amounts (<2 wt%) of Cr3C2. Modification of the binder phase improves indentation fracture toughness and corrosion resistance. Addition of Cr3C2 independent of the binder type improves corrosion resistance. 相似文献
Motion sensing has now become one of the crucial parts of modern life. The tech products for entertainment create huge competition in the modern market, with the front runners such as game and handset manufacturers. Users can use their own bodies to control the systems without Conversational User Interfaces (CUIs) and Graph User Interfaces (GUIs). With many benefits, the technologies of NUI is getting more and more important, which also are usually accompanied by the sensor developments. Hence, system designers uses the sensors on the embedded platforms used to develop the system devices for different body movement control interfaces, such as using the gravitational sensor to control the systems or using touchscreen detection. However most of the body movement is restricted to the hand portion for the system platform, making it not as dynamic as the traditional monitor consoles. Thus, this restriction decreases the multitude and availability of controlling modes in system devices. In this study, a sensor-based gait recognition was proposed, in order to provide a novel natural user interface for control systems except the operating modes of gesture. 相似文献