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A corner-based image alignment algorithm based on the procedures of corner-based template matching is presented in this study. This algorithm consists of two stages: training and matching. In the matching phase, the corners are obtained using Harris corner detection algorithm. These corners are then used to build the pyramid images. In the matching phase, the corners are obtained using the same corner...
In this paper, an integral fuzzy terminal sliding mode control (IFTSMC) scheme is proposed for trajectory control of an omni-directional mobile robot (ODMR). This control scheme combines the techniques of terminal attractor approach, integral sliding-mode control and fuzzy logic control which can drive the posture error and velocity error to zero at finite time. All the simulation results demonstrate...
A fuzzy sliding mode controller is designed for controlling is proposed for speed tracking control of a separately excited DC motors (SEDCMs) in this paper. The method is based on Lyapounov stability, fuzzy and variable structure control theorems. First, the methodology of the fuzzy is used to estimate the unknown nonlinearities. When the system is in the sliding mode, the adaptive gain in the designed...
For the needs of precision and smooth control, a robust control scheme for a delta robot is implemented in this paper. Parallel robots have many advantages comparing to the serial robots, such as high flexibility, high stiffness, and high accuracy. However, to achieve a higher accuracy, the static and dynamic behavior must be better understood. In addition, parallel robots are highly coupled systems...
Integrating machine vision and motion control method into a double layers alignment system is a popular issue in flat panel display and semiconductor industry. An ultra-low stage is considered to compensate the posture between the upper and nether misalignment. Classic template matching is introduced in this paper to recognize the fiducial marks in this proposed alignment system. The compensate variables...
The parallel robots have attracted many researchers¡¦ attention for its great potential in high speed pick-and-place operation. In this paper, a short description about the development and construction of parallel robot in Metal Industries Research and Development Centre, Taiwan, is introduced. A concept for the development is depicted as well as the kinematics. An embedded system utilized to control...
Machine vision system, which is an important part in robotic soccer. During the period of the competition, for real color, it is easily to cause the robot vision unable, for example, misrecognizing or error recognition under the different brightness. For solving this problem, we propose a fuzzy color detection to improve this problem in this paper. For examining the camera's erection, the camera might...
Based on the Lyapunov stability theorem, an adaptive controller is proposed for the inverted pendulum in this paper. The design of the robust controller can be used to suppress the uncertainties. The simulation results of inverted pendulum control have demonstrated the feasibility of the proposed method.
The design of an adaptive sliding mode control (SMC) scheme is proposed in this paper for stabilizing a class of dynamic systems with matched and mismatched perturbations. Two methods for designing a novel sliding surface function are introduced first. By utilizing a pseudocontrol input in the sliding surface function, one cannot only suppress the mismatched perturbations in the sliding mode, but...
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