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, an improved sliding mode algorithm with global asymptotic stability is presented for tracking control of nonholonomic mobile robot. Centroid offset parameters are used in the design of the controller, which can drive the position error to zero quickly in the premise of guaranteeing stability of the whole system. The Kinematics mathematical model and the position and posture error model...
This paper proposes a new method of modeling and simulation of a new 2 DOF parallel mechanism based on Matlab/SimMechanics. We also design a controller under the environment of Simulink and SimMechanics to satisfy the performance requirement for making the end-effector track of the reference trajectory. Simulation results and performance of the control system are presented in detail. The test results...
This study concerns dynamic modeling and contouring control of parallel kinematic machines. The Orthopod, a 3 degree-of-freedom parallel manipulator designed for an engraving machine, is introduced as the control plant. Since the tracking error does not reflect truly its product quality, the contouring error is introduced in dynamic control. In this paper, the dynamic equations of the Orthopod are...
In the paper, a model of ship balance control for athwartships trim based on transferring liquid among tanks is established, the performance of model of ship is also analyzed and simulated. First, a ship dynamics model for athwartships trim is build based on the ship static knowledge, Secondly, the actuator based on the transferring Liquid among Tanks for ship balance control is involved and also...
In order to meet the requirement of manufacturing large-scale ball-crown like parts, a new type Slider-crank Mechanism Based 2-dof Heavy-load Positioner is introduced in this paper. The mathematical model of the positioner is established. The kinematics problems are solved. The statics problem is solved and the analytic expression of the driving force is obtained. An optimal dimensional synthesis...
Since the advent of the robots, they are widely applied in many areas of industry all over the world. With the advancement of the robot, many new research theories and technologies are developed on it. The single one impacted much more quickly and significantly is the application of computer offline simulation technology nowadays. Based on some relevant theories of robot, this paper suggests a new...
Stewart platform used in testing system for two spacecraftpsilas motion docking mechanism requires high accuracy to achieve better simulation result. In this paper, an accuracy synthesis of the Stewart platform used in a testing system for spacecraft docking mechanism is presented. The method is based on the error model formed through differentiation of the kinematics equations of the platform and...
This paper proposed a behavior-based steering controller for four wheel independent steering vehicle. The proposed controller acts as virtual linkages among each wheel to minimize wheel slip resulted by the misalignment of the orientations of wheels effectively. As there is no trajectory planning needed in the control algorithm, the proposed controller is especially suitable for non-autonomous vehicle...
This paper develops a new representation for the dynamic model of unicycle-like mobile robots, discusses some properties of it, and proposes an adaptive dynamic compensation controller based on such model. The proposed dynamic model has linear and angular velocities as inputs, which is usual in commercial mobile robots but not in the literature, thus increasing the significance of the model itself...
This paper presents an advanced control architecture for the full-scale humanoid robot RH-1. The pose control of the prototype is aimed in order to achieve mobile manipulation in collaborative working environments where humans and robots must share the same tasks and space. The kinematic model and a simplified dynamic model of the robot are given. All the models and algorithms are verified by several...
The displacement analysis problem of parallel robot mechanism can be finally transformed into solving nonlinear equations and the finding-process is very difficult. Moreover, the more CCS kinematic pair the more complexly to find. The mathematical programming method is adopted when the iteration diverges with the Newton and quasi-Newton methods. If chaotic sequences are considered as the initial guess...
Most of the wheeled vehicles are anholonom systems the position and the rotational pose of which cannot arbitrarily be determined. This problem typically is solved by iterative, small, ldquoback and forthrdquo type movements while leaving a place/occupying a vacancy in a crowded parking place and also needs simple solution in the tracking control of a smooth path of considerable velocity. For this...
A formulation based on Danevit-Hartenberg was educed for the dynamics and kinematics equation, the virtual model of humanoid robot based on Pro/ENGINEER was developed. The simulator, which is the virtual counterpart of the hardware robot platform for humanoid robotics, can emulate the dynamics of the robots and test the control algorithms. The controller can handle a dynamic balance control, a biped...
This paper presents a novel macro/micro 3-DOF parallel platform for micro/nano positioning applications. The kinematics model of the dual parallel mechanism system is established via the stiffness model of individual wide-range flexure hinge and vector-loop equation. The inverse kinematics is analyzed and simulated on a parallel mechanism with real parameters. Whereafter, the reachable and usable...
In this paper, a number of kinematics problems of a novel 3-DOF 3-RPUR translational parallel mechanism are studied. First, an equation system of the mechanism structure constraint and an initial equation system are established. Second, all forward kinematics are obtained via the continuation approach, the positions of the mechanism corresponding to the solutions are validated. Third, according to...
The author assesses the validity of three models dealing with human arm trajectory control by evaluating their success in accounting for the kinematic characteristics of planar horizontal unconstrained point-to-point arm trajectories. These models are concerned with two significant issues. Namely, in what coordinate frame(s) are movements internally represented by the brain and, how intention is translated...
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.