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This paper presents a solution to the residual vibration of 3-DOF Delta parallel robots. As the parallel mechanism is highly nonlinear, inverse dynamics analysis in explicit form by using Lagrangian formulation is proposed to linearize the system. To apply the Lagrangian method to the parallel mechanism, the structure is divided to sub-chains by imaginary open tree method. After deriving inverse dynamics...
Path planning and re-planning for serial 6 degree of freedom (DOF) robotic systems is challenging due to the complex kinematic structure which reflects in the direct and inverse kinematic solutions. Industrial robots can move either in joint space, which use direct kinematic solver or Cartesian space which use the inverse kinematic solver. The complexity in robotics comes from the inverse kinematics,...
We study the relationship between Directed Information Graphs (DIG) and Linear Dynamical Graphs (LDG), both of which are graphical models where nodes represent scalar random processes. DIGs are based on directed information and represent the causal dynamics between processes in a stochastic system. LDGs capture causal dynamics but only in linear dynamical systems and there are Wiener filtering to...
The purpose of this paper is to adapt the empirical characteristic function (ECF) method to stable, but possibly not inverse stable linear stochastic system driven by the increments of a Lévy-process. A remarkable property of the ECF method for i.i.d. data is that, under an ideal setting, it gives an efficient estimate of the unknown parameters of a given parametric family of distributions. Variants...
Viscoelastic joints with adjustable physical impedance have recently become very popular in robotics research. Making use of the energy stored in elastic elements and changing simultaneously their elastic properties, performance of these joints are shown to be substantially increased compared to their rigid counterparts of the same size. After our recent results on how to optimally alter a joint's...
The Passivity Theorem is a popular input-output stability analysis tool. However, passivity violations, which are often due to sensor and actuator dynamics, may cause instabilities, necessitating the adoption of alternative stability results. This paper presents experimental results employing controllers that ensure stability via the Conic Sector Theorem. A new conic sector controller synthesis method...
We investigate into the loopy belief propagation algorithm for binary low density parity check (LDPC) codes having cycles of small girth. Independence assumption among messages passed, assumed reasonable in all configurations of graphs, fails the most in graphical structures with short cycles. We investigate into this limitation and propose a modified algorithm, by considering dependency in the probability...
Collaborative spectrum sensing in Cognitive Radio Networks is vulnerable to Spectrum Sensing Data Falsification (SSDF) attack. Many existing SSDF attack defending algorithms need the assistance of reference sensing devices with high spectrum sensing performance, which are difficult and costly to be implemented in reality. Most of other existing approaches are based on statistic characteristics of...
Recently, more attention has been paid for assisting elderly and people with various disabilities, hence assistive robots have gained much popularity. These robots are usually in a direct contact with the user, therefore dynamic modeling is important for precise control. In this paper, dynamic model for a parallel manipulator-based mobility assistive device is first developed using the first type...
In this communication, we propose a four-parameter fractional derivative Zener model for modeling of a viscoelastic element connected into a robotic system. We used force-displacement relation in order to obtain generalized forces of the element connected to two different bodies in the system. Generalized forces of the element are derived using the principle of virtual work. In order to obtain numerical...
Consider a master/slave scheme in the coordinated motion control for carrying a rigid body object by two robot arms, which one robot is called the leader and the other is called the follower. The problem is when the leader's motion leads the follower to a singular region, or the leader's motion requires the follower to avoid its joint limit or obstacle, the task cannot be accomplished due to the less...
Multilink planar revolute robots or multilink pendulum-type robots are interesting benchmark systems for control and robotics. In this paper, we present an elementary derivation for motion equations of an n-link planar robot with all rotational joints moving in the vertical plane. Moreover, we prove several known properties and present several new properties on the mechanical parameters in the motion...
In this paper, we propose a CPG (Central pattern generator) control system by using motor dynamics for the gait planning of the quadruped robot. The CPG model, which includes two DC motors model, has a capability to generate the regular joint angle with complex parameters. CPG unit can generate the stable signal, by using the limit cycle method evaluation. We can change the value of CPG parameters...
For the LOG problems with bounded uncertain parameter existing in the state equation, a adaptive dual control approach is proposed. In this paper, it is assumed that the unknown parameter belongs to a known bounded interval. Firstly, a subdivision for the continuous bounded interval is used. Secondly, based on the subdivision, the dual controller is developed. Furthermore, the controller not only...
A novel adaptive object impedance control strategy is presented for dual-arm cooperative humanoid manipulators. A general impedance scheme comprising internal impedance control and object impedance control is adopted, which aims at conferring a compliant behavior both in end-effector level and object lever. The adaptation law for the stiffness and damping of object impedance is derived from Lyapunov...
Recent airship robots have been made with parts similar to aquatic animal organs in order to combine the excellent swimming abilities that fish demonstrate in water with the low energy consumption that airship robots require when flying at low speeds and altitudes. One such robot is the Balloon Fish Robot (BFR). This paper is concerned with, motion simulation and parameter optimization for the BFR's...
This paper presents Security Constraint Unit Commitment (SCUC) backup plan considering single contingency. The proposed method leads solution to obtain optimal units and reserve schedule. In equivalent linear expression of the problem, shedding costs are used to avoid divergence and resolve congestion problem. Obtained load shedding in contingency case are utilized to achieve an optimal reserve requirements...
This paper focuses on finding the feasible and the optimal solution of security constraint unit commitment problem. The proposed day-ahead algorithm clears actual power and reserve auction simultaneously and obtains feasible solution in contingency case. In equivalent linear expression of the problem, shedding costs are used to avoid divergence and resolve congestion problem. The new terms of inequalities,...
Determining an analytical solution to the inverse kinematics problem for a parallel manipulator is typically a straightforward problem. However, lower mobility parallel manipulators with 2–5 degrees of freedom (DOFs) often suffer from an unwanted parasitic motion in one or more DOFs. For such manipulators, the inverse kinematics problem can be significantly more difficult. This paper contains an analysis...
In robotics, differential mechanisms are widely used when lightweightness and compactness are a requisite for the robot design. Moreover, the last decades have seen the rise of (variable) compliant acuators as important elements to perform safe interaction and dynamic tasks. This paper introduces a Variable Stiffness Differential Drive (VSDD), i.e., a differential transmissions with variable stiffness...
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