Serwis Infona wykorzystuje pliki cookies (ciasteczka). Są to wartości tekstowe, zapamiętywane przez przeglądarkę na urządzeniu użytkownika. Nasz serwis ma dostęp do tych wartości oraz wykorzystuje je do zapamiętania danych dotyczących użytkownika, takich jak np. ustawienia (typu widok ekranu, wybór języka interfejsu), zapamiętanie zalogowania. Korzystanie z serwisu Infona oznacza zgodę na zapis informacji i ich wykorzystanie dla celów korzytania z serwisu. Więcej informacji można znaleźć w Polityce prywatności oraz Regulaminie serwisu. Zamknięcie tego okienka potwierdza zapoznanie się z informacją o plikach cookies, akceptację polityki prywatności i regulaminu oraz sposobu wykorzystywania plików cookies w serwisie. Możesz zmienić ustawienia obsługi cookies w swojej przeglądarce.
A lower limbs rehabilitative training robot was designed to improve walking ability of patients who suffer from impairment in locomotion after neurology injuries or aged persons who lack walking capability. The robot was fixed with four omni-directional wheels which can move within any radius in any direction. When the robot is running, some undetected uncertainty disturbances change its running trajectory,...
This paper proposes a slope-walking strategy of a bipedal robot using position and orientation based inverse kinematics method. Some researchers implemented control approaches to solve this problem. Generally, they apply control feedback at ankle joints and introduced many more control methodologies. Several researchers used pelvis and foot trajectories without showing center of mass trajectory. In...
In bilateral teleoperation systems, stability and synchronization have been important problems in control engineering. Several control architectures have been developed to solve the these problems. In this paper, input saturation is considered. Saturation in these systems can destroy synchronization on established architecture. In this paper, it is shown that the synchronization is steel maintained...
This paper presents a compensation method for considerable pose errors when a simulated program is used for a real palletizing work cell. Since most robot poses are generated by off-line programming (OLP) software recently it is very important to compensate the errors. To show the severity of the errors, the errors are examined when there is no compensation first. To compensate the errors, a palletizing...
The minimum-energy trajectory planning algorithm on a tangent with translational and rotational motion is proposed for battery-powered three-wheeled omni-directional mobile robots (TOMRs). We have chosen a practical cost function as the total energy drawn from the batteries, in order to lengthen the operational time of a mobile robot with given batteries. After establishing the dynamic equations of...
An adaptive controller for a class of unknown nonaffine discrete-time plants is introduced in this article. The proposed control law is constructed by the estimated system linearization with adjustable networks called Muti-input Fuzzy Rules Emulated Networks or MIFRENs. Only on-line learning phase, the bounded parameters inside MIFRENs and the boundary of control error are given by the proposed theorem...
For a robot to move autonomously in an unknown dynamic environment, a real-time motion generation is necessary. Especially, safety motion generations are important. There are a lot of methods for making safe motion. For example, it is popular to check only around the robot with additional sensors and avoid obstacles detected by the sensors, though, the coordination problem between global trajectory...
It is expected that more and more robots will be introduced into public societies and homes. The problem in such a case will be the smooth mobility of each robot. Collision avoidance between robots or between a robot and other obstacles including human beings is important as well as reaching its target point in order to carry out its task. Human beings often give way to each other to cope with this...
Aiming at solving the problem of trajectory tracking of the wheeled mobile robot, a modified Iterative Learning Control (ILC) algorithm based on the kinematics model is presented in this paper. The idea of the Model Algorithmic Learning Law is introduced to the classical open-closed loop ILC, which can improve the effect of the control law. The convergence of the new algorithm is demonstrated in the...
Podaj zakres dat dla filtrowania wyświetlonych wyników. Możesz podać datę początkową, końcową lub obie daty. Daty możesz wpisać ręcznie lub wybrać za pomocą kalendarza.