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This article addresses the hybrid control method for wheeled mobile robot in constrained environment. Wheeled mobile robots, which are characterized by nonholonomic constraints, are particularly difficult to control since environment constraints should be taken into account sometimes. Traditional control methods, which are based on precise models of environment, may lead to great challenges in determining...
There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. A novel structure including an MWIP system and a movable seat called UW-Car is proposed in the study. The dynamic model of UW-Car system running in the flat ground is obtained by applying...
The minimal invasive surgery reducing an incision is required for a tumor resection in the field of neurosurgery. The minimal invasive surgery has many advantages of operations which are less lost of blood and painless using a thin long pole shape surgical instrument. For all those advantages, it has defects of difficulties of visual insurance and limitations of moving surgical instruments. Therefore,...
In this paper, we realize a new real-time humanoid robot control system based on dual network. The dual network method consists of two communication protocols: high speed IEEE 1394, and high stable controller area network (CAN). We enhanced the efficiency of control network system, and the network transformation board for consisting of dual network was developed. The control network method is validated...
Many industrial controller use real-time OS as control systems have become more complex and control many targets. Thus, as CPU frequency increases, so power consumption increases. Dynamic voltage/frequency scaling is an important issue to consider the power awareness problem in real-time scheduling of embedded systems. The DVS technique is important to control tasks in embedded systems, since DVS,...
The fuzzy PID controller is proposed to improve the performance of the network pressure-superposed water supply (NPSWS) system. Taking the pump as the load of the asynchronous motor, the whole system can be simplified as a second-order model. On the basis of the model, fuzzy rules are designed to complete on-line parameters adjustments of PID controller. Comparisons are made between the fuzzy PID...
Considering accelerometer failure of single electromagnet suspension system of maglev train, a sensor-fault diagnosis system based on unscented Kalman filter is designed. According to the results of fault detection and diagnosis on line, a improved PID regulator designed off line with tracking differentiators is adopted to tolerate the accelerometer failure. The simulation indicates that the fault...
In the process of space robot capturing, the space robot end-effector was in open-loop state, and the robot controller could not estimate if the capture interface was in desired position. Hence a force sense unit adapted to vicious outer space environment used as the capturing force feedback to the control system was designed. By the method of mechatronics integration design, the force sense unit...
The colonoscope is an important surgical tool to diagnose various colon diseases. However, the conventional colonoscope usually causes the patient a great deal of discomfort and pain. In order to develop a colonoscope for less discomfort of the patient and less demanding operation techniques of the doctor, a novel snake-like robotic colonoscope is proposed in this paper. This robotic colonoscope adopts...
A kind of new robotic nursing bed is designed in this paper, which has the functions of raising back, curling legs, side turning over from left to right separately, and voice recognition control, according to paralyzed patient's requirement. The bed is designed based on the robot's behave planning and the characteristics of multi-axis control and templet matching theory, to improve living standard...
This paper presents a robust controller based on the application of the linear matrix inequalities (LMI) to solve the swinging up and stabilization problem of a serial double inverted pendulum (SDIP), which is of complicate nonlinearities and limitations of actuator and sensors. The designed H-infinity robust controller was optimized to realize the required objectives and eliminate the negative effect...
Repetitive control, a distinctive control method with a human-like learning capability, is of both theoretical and practical importance. This paper deals with the problem of designing a robust observer-based repetitive-control system that provides a given H?? steady-state disturbance-attenuation performance for a class of plants with time-varying structured uncertainties. A continuous-discrete two-dimensional...
A digital integrated development platform, which is based on Pro/E, ADAMS, ANSYS and Matlab, is introduced in this paper. A type of 6-DOF industrial robot for laser cutting is developed on this platform. In the virtual environment, the development efficiency is improved, as well as the reliability of the robot. The 3D parametric model of the laser cutting robot is firstly built by using Pro/E. Through...
The problem of attitude tracking control for rigid satellite is studied in this paper. Based on the dynamic equation and kinematics equation using error quaternion and error angular velocity, a sliding mode controller is initially designed to solve this problem. In order to avoid inherent chattering of sliding mode control and then improve control effect, a disturbance observer is introduced and included...
This paper presents the Dual Arm Free-flying Space Robotic System (DAFSR) which is developed for On-Orbit Servicing to GEO stationary satellite. DAFSR consists of free-flying platform, target detecting system and two space manipulators. In this paper, the mission schedule and the design of the system are described in detail, as well as the target detecting system and the ground tele-operational system...
Scientific research and development on the control of autonomous airship have shown a significant growth in recent years. New applications appear in the areas such as freight carrier, advertising, monitoring, surveillance, transportation, military and scientific research. The control of Autonomous airship is a very important problem for the aerial robots research. In this paper, the previous research...
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