The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this paper, a trajectory generator based on causal modeling is presented. This strategy is applied to the velocity constraint trajectory generation of an automatic subway. The constraints take into account of passengers comfort by the use of imposed maximum jerk and acceleration values. The proposed velocity generator is enhanced by the use of torque model of the DC machines. The proposed velocity...
A new model promotion and transporting robot, which is double hydraulic drive and seven linkage structure, has been designed. Its virtual prototype has been established. The inverse kinematic is solved based on the target trajectory. Thus the hydraulic cylinders' velocity and acceleration is obtained. The stability optimization goal is set. Through the sensitivity analysis based on the design variables,...
The control of car following is essential to its safety and its operational efficiency. For this purpose, this paper builds a linear, continuous and time-delay model of car following. And then, presents a controller based on an adaptive network fuzzy inference system (ANFIS) for the car-following collision avoidance system to adaptively control the speed of the vehicle. The relative distance and relative...
Hitting and batting tasks, such as tennis forehands, ping-pong strokes, or baseball batting, depend on predictions where the ball can be intercepted and how it can properly be returned to the opponent. These predictions get more accurate over time, hence the behaviors need to be continuously modified. As a result, movement templates with a learned global shape need to be adapted during the execution...
To build autonomous robots capable to plan and control tasks in human environments, we need a description of trajectories that allows the robot to reason on his moves. In this paper we propose to use series of cubic polynomial curves to define the trajectories with bounded jerk, acceleration and velocity. This solution is well adapted to plan safe and acceptable moves of the robot in the vicinity...
We propose an efficient stochastic scheme for minimum-time trajectory planning of a nonholonomic unicycle mobile robot under constraints on path curvature, velocities, and torques. This problem, which is known to be complex, often requires important runtimes, particularly if obstacles are present and if full dynamics is considered. The proposed technique is a fast variant of the random-profile approach...
This paper presents a single-axis trajectory generator for point-to-point motion control. Generated profiles are trapezoidal velocity that can “on-the-fly” modify system parameters such as the current destination, speed and acceleration without introducing any overshoots or fluctuations. Simulation results show that the proposed discrete-time and online calculation method guarantees finite step convergence...
In this paper, the optimum configuration of superfluous cables in redundant planar cable-suspended robots for minimum time trajectory is investigated. Both cable tensions and cable velocities are assumed to be limited. The bounds on the cable tensions and velocities are transformed into the bounds on the acceleration and velocity along the specified path. Assuming bang-bang control and using genetic...
In this study, a controller for robotic motion based on neuroscientific principles was developed and implemented using an artificial neural element and a conventional robotic arm. With independent control over arm final position, velocity, acceleration, and deceleration, this system offers a more smooth, efficient and life-like motion than conventional open-loop methods. The system makes use of a...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.