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Force control algorithm of the robot manipulator contacting with a constraint surface with uncertain figure and stiffness error is discussed in this paper. To accomplish the accurate parameter less-relying constraint motion, a real-time adjusting fuzzy logic of reference trajectories in impedance model is proposed. The adjustment depends on the real-time force and position feedback. Simulation experiments...
On the basis of results of previous studies, this paper overviews several kinds of typical artificial muscles' structural principle, the technological study condition and application status in main fields, and classifies artificial muscles. This paper mainly summarizes domestic and foreign scholars' research results on the control technology of artificial muscles, including neural network control,...
This paper discusses and analyses precise hydraulic pressure control of VVVF hydraulic system. The mathematical model of system is established and PID control law is adopted. Numerical simulation of PID controller is carried out with the SIMULINK of MATLAB. In the non-linear, time-varying VVVF hydraulic system, however, conventional PID control often cannot satisfy the request of precise pressure...
As an important indicator of the accuracy of solenoid valve - solenoid valve seal performance directly influences the quality and precision of valve. In this paper, software and hardware platform of the test of solenoid valve seal performance are introduced, seal performance test method is discussed. Fuzzy control algorithm is studied in controlling the VVVF, and fuzzy control is applied in hydraulic...
An intelligentized, comprehensive and high efficiency test system of solenoid valve for oil medium is designed in this paper, aiming to the disadvantage of current test devices in most solenoid valve factories in China. Serial communication of OPC-SERVER, sequential control of PLC, frequency conversion speed regulation technology and data acquisitions by LabVIEW are all achieved in this system; modeling...
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