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The increasing number of mobile services makes users confused to select appropriate services among plenty of service icons or links. Current developers always choose to recommend recently or mostly used services to users, but these approaches neglect the relations between user states and environment information and invocations, and the recommendation results will not be accurate when the mobile services...
To guarantee the walking stability of humanoid robots, a new joint trajectory planning method is proposed. First, to map the trajectory of task space into the trajectory of joint space, a numerical algorithm of inverse kinematics is used to obtain the time sequences of joint angle. In this algorithm, the return values calculated by forward kinematics are compared with the expected pose repeatedly...
This paper proposes a novel adaptive robust PID controller to deal with the trajectory tracking of robot manipulators with nonlinear uncertainties and disturbances. Based on the classical PID controller, an adaptive PID controller is designed to deal with the nonlinear uncertainties of the system. The adaptation mechanism which is motivated from the sliding mode control derived for tuning three PID...
A novel robust adaptive wavelet network controller (RAWNC) is proposed for trajectory tracking of robot manipulator with uncertainties and disturbances. The controller is composed of an approximate ideal controller based on the adaptive wavelet network and a robust part. The adaptive wavelet network controller (AWNC) with finite wavelet family is designed to approximate the ideal controller which...
The existing real time algorithms for inverse kinematics of general 6R robots have the problems of complex procedures and ineffective roots, so they can not be applied in the online control systems where real time performance are strictly required. In this paper, we propose an optimized algorithm with strong real time performance and high accuracy. The six basic inverse kinematics equations are transformed...
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