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In this paper, we tested a dynamic control law on a 2DOF robot walking leg. To achieve this, we modeled the system using bond graphs, and the Sliding Control Method for real time control. To increase performance of the robot trajectory tracking control a fuzzy gain adjustment inside the dynamic control method have been used and the new results include the systems' influence on the sliding parameter...
The paper presents an innovative design for a wheeled hopping robot. Our main objective was to obtain a stable and efficient robot, which can jump over obstacles and has the ability to reach a certain ledge. The innovative design of our robot has the capability to jump to a certain distance even with a zero initial velocity provided by the wheels movement. Also, we took into consideration the wind...
A novel scheme to improve the dynamic characteristics of ship motion control system is proposed after investigating several advanced control algorithms. Problem of selecting the corrector loop in multi-object structure is studied, which achieved the accuracy requirements of vessel course control on disturbed sea. An integrated control law with a synthesized structure - Asymptotic Observer + Corrector...
In this paper, parallel mechanism is used as a walking leg of walking robot, simulation models are built based on virtual prototyping technology, gait planning and simulation of walking is given. By simulation examples of biped, quadruped walking robot, it proves that using parallel mechanism as a walking leg to achieve the walking motion of walking robot is reasonable, provides a theoretical basis...
Based on linear dynamic equation optimization, a particular control structure is introduced in this paper, which can be acronymized as AOCS (Asymptotic Observer + Corrector + Speed control law), and the control quality requirements especially the economy are fullfiled, as to both military ships and civilian ones. it is validated in simulation that AOCS algorithm can be characterized as high control...
This paper presents a patient transfer apparatus between bed and stretcher. This apparatus makes it possible for the nurse to move weak, injured, or paralyzed patient from bed to stretcher, or vice versa, alone. Moreover, the suffering, stress, and uneasy feeling of the patient can be alleviated. This paper describes the specification, mechanical design, control system, and motion control of the apparatus...
This paper presents a motor controller based on PIC. Deferent from the traditional regular control pattern, the motor controller adopts changeable control pattern that enables a robot to use the different control mode according to the different external environment. The hardware, software architecture, algorithm of motion control, calibration, position limit, and communication are described. The experiments...
This paper presents ceiling light landmarks based localization and motion control for a mobile robot. The novel mechanism design for the mobile robot is introduced, and the method of localization using ceiling light is proposed. Navigation map, network matrix and the method to find shortest path are described. From the path planning, the control scheme of autonomous navigation for the mobile robot...
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