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Trajectories planning and motion control of two-legged robots comprise many subtasks for different scenarios. In this paper the problem of stabilization of humanoid robot Darwin-OP in a standing position is considered. The robot balances on a rotating surface with unknown angle and speed. Estimation of surface inclination is provided by data of motor encoders and inertial measurements of accelerometer...
This paper is addressed to a problem of humanoid robot locomotion with the use of computer vision. The robot is 20 DoF Darwin OP equipped with video camera in its head and has built-in PC. To determine the desired path we use the algorithm of video processing based on image filtration within threshold values in HSV color model. Developed control system includes tracking system for the head with camera...
This paper addresses the problem of position estimation for salient permanent magnet synchronous motors (PMSMs). It is assumed that stator currents and voltages and rotor speed are measurable signals. Two extensions of the position observer are presented — the first one is based on a standard gradient estimator and the second observer uses recently proposed the dynamic regression extension and mixing...
The paper is extension of result [16] and aimed to the adaptive control of uncertain linear plants under conditions of only quantized output measurement and bounded external disturbances. Quantizer with dynamical changing step is considered. Control law synthesis is based on consecutive compensator method. Kharitonov polynomials based tuning algorithm for controller parameters and quantization step...
The paper is devoted to the development of robust control for four-rotor aerial vehicle equipped with robotic arm based on the feedback linearization approach and finite-time control of the double integrator system. As a combined model of such system a quadrocopter and planar two link manipulator were chosen. Simulation results confirm efficiency of the proposed controller.
The paper is dedicated to issues of system objects securing (system files and user system or application configuration files) against unauthorized access including denial of service attacks. The method and developed abstract system virtualization models, which are used to research attack scenarios for different virtualization modes, are presented. Effectiveness for system tools virtualization technology...
Motion control of biped robots includes a variety of tasks, such as controlling a robot walking on a horizontal plane, climbing stairs, moving on uneven surfaces, etc. This article describes modeling and designed control system for a biped robot standing on nonstationary plane. The problem of stabilization of the balancing robot, assembled on the basis of a robotic kit Bioloid, is considered for the...
A control algorithm for finite-time tracking of quadrotor is introduced. The algorithm is based on use of feedback linearization method and finite-time output control presented in [17]. In comparison with commonly used in practice control methods like PD-controller the proposed method allows to estimate the first derivatives of the generalized coordinates, that enable to reduce the number of necessary...
This article describes learning process at ITMO University with application of innovative mechatronic systems in automation and robotics learning. Proposed learning method allows developing students' interest in gaining practical skills during working with real robots. As a result, the students' need for theoretical knowledge increases. The learning process represents “learning in project implementation”...
The problem of a two-link robotic manipulator control under disturbances and uncertainly known parameters of it's system is considered in this article. There was proposed a method for adaptive control of the two-link robot manipulator based on the method of consecutive compensator. This article is the extension of results reported earlier, where the efficiency of consecutive compensator method applying...
The article describes an active learning method in studying the course "Integrated Systems Design and Control" for the masters program "System Analysis and Control". The method is based on involving of students to acquisition of a new knowledge in learning process, finding optimal solutions supported by practical activities. Strengthening of theoretical knowledge is supposed to...
This paper is devoted to the problem of stabilization of a biped robot that balances on a planar nonstationary board. The incline of the board on which the robot stands can vary arbitrarily. This article is a continuation of previous work. Here we present an improved control system of the robot, assembled on the basis of a robotic kit Bioloid. The main difference between this work and the previous...
This article proposes a new control design of quadrotor with attached 2-DOF robotic arm. Proposed adaptive control law is based on combined application of feedback linearization and consecutive compensator methods. Real time computation of the inertia tensor, center of mass position and the reactive torque generated by the manipulator is used to compensate the mutual influence of the system parts...
The aim of this article is design and control system developing of multirotational UAV equipped with a robotic manipulator. As a combined model of the robot a quadrocopter and a two-link manipulator were chosen. The mathematical model of this robot, its dynamic equations and problem of trajectory tracking are described in this paper. Mutual reactive influence of the robotic manipulator and the UAV...
The problem of stabilization of a biped robot standing on a nonstationary plane is considered in article. Two different algorithms for solving this problem for two different robot models are given. Control goal for both robots was formulated in the same way. Not to fall, the robots have to maintain their center line of mass at center of bearing area. The first algorithm refers to a virtual model with...
This paper describes designed control system for group of quadcopters with connection to the brain-computer interface. Quadcopter can be controlled mentally. Electroencephalogram signals are used as control commands. The system is able to keep formation during the movement on the optimal trajectory for the fastest exploration of locality. The application provides both manual and full-automatic control...
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