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This paper presents the novel contact force control approach of a quad-rotor system to interact with the environment in the constrained space. Although the quad-rotor system is not rigid, a contact force in the altitude can be regulated by the position-based impedance force control scheme that adjusts the reference trajectory with respect to the applied force through an admittance filter. This simplifies...
The automatic pouring of molten metal from a ladle into a mold by a machine requires a high-precision positioning control of the outflow liquid. In the previous studies, the precise falling position controls of the outflow liquid for pouring into the sprue cup of the mold were proposed. However, it is supposed to the increase amounts of splashing and the air entrainment, because the conventional approaches...
A novel behavior based locomotion controller (BBLC) capable of adapting to unknown disturbances is presented. The proposed controller implements a behavior based control architecture by subdividing the walking control into several task-space controllers such as swing leg control and center of gravity (COG) position control. For each task-space controller, a number of behaviors, which plan the reference...
The problem of approaching with high precision contact two generally actuated objects or work-pieces in industrial environment is discussed in a large parameter range. It is first noticed that main three actuation systems, electrical, pneumatic and hydraulic, obey the same type of equations which are coupled to object dynamics including its specific material reaction. For complete safety, especially...
A reflexive approach for the hierarchical constraint-based singularity avoidance is proposed and demonstrated on the example of a two-link planar robot. The method is based on the concept of lower level constraint adaptation by introducing virtual velocity constraints in relation to higher level system states and on the concept of anisotropic reflexive trajectory deflection. Constraints adaptation...
Biological studies on animal walking and running have contributed to the control of mobile robots. Taking inspiration from such studies, a hybrid impulse-position (HIP) controller has been developed for legged locomotion over uneven terrain. The HIP controller generates joint torques during the stance phase of each leg cycle to propel and stabilize the body, and is meant to operate with CPG-based...
In this paper, real time position, trajectory and speed controls are implemented for a serial excited brushed DC motor using PID and state feedback control methods. The purpose of this study is to keep the position and speed on desired references. The control blocks are designed on Matlab-Simulink and applied by F28335 DSP control board. The experimental results of PID and state feedback methods are...
Ad-hoc networking and mobility modelling are two very prospective research areas of modern network technologies. This paper is focused mainly on the possibilities of the map-based mobility modelling in OPNET Modeler simulation environment. The paper introduces a new simulation model which enables direct position control for mobile stations. This easily configurable and customizable system offers a...
In this paper, position controllers for IPMSM using sliding mode controller are compared. The sliding trajectory is predefined according to position error. And then, the performances of PI speed controller, sliding mode controller, and improved sliding mode controller that is combined PI controller and sliding trajectory calculator by merge function are compared. These position controllers are verified...
This paper addresses the problem of robotics trajectory building for efficient navigation and consequently exploration. A concept of beta-eigenvector has been introduced to find an outlier for the existing non-point based trajectory obtained from raw laser data. We have used our paradigm of “free configuration eigenspaces” method, with specific focus on outlier detection. The key idea proposed in...
Several algorithms have been proposed in the last 25 years on the problem of generating time-optimal trajectories for robot manipulators along specified paths. This article describes an application of an optimal trajectory algorithm to an industrial manipulator used in the transfer of solar panel substrates between process modules. These manipulators operate in a vacuum environment and have constraints...
With the recent advancements and wide usage of location detection devices, large quantities of data are collected by GPS and cellular technologies in the form of trajectories. While most previous work on trajectory-based queries has concentrated on traditional range, nearest-neighbor and similarity queries, there is still the need to query trajectories using complex, yet more intuitive to users, motion...
In this paper, we present an intelligent, low-cost scanning range finder for collision avoidance on systems with limited processing power. Our range finder is made low cost and computationally efficient by taking into consideration the actual planning needs for local obstacle avoidance algorithms to dynamically select the area to sample range measurements from. We present a modified version of Trajectory...
In this paper we present the design, implementation and experimental validation of a FPGA based position servo controller for a DC motor with dry friction. VHDL and block diagram modules for trajectory generation, encoder signal decoding, PI controller and PWM control signal generation are described. The control system is implemented in the DE3 board of Terasic Technologies Inc using Quartus II environment...
This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor for measuring water depth and Doppler Velocity Log...
In order to realize accuracy control, a trajectory planning algorithm is designed for the 4 DOF articulated eggplant-picking robot. The structure selection of the robot is made according to the eggplant's growth circumstance and distribution space. The robot kinematics model is established with D-H method and the forward kinematics solution for the robot is obtained. The inverse kinematics solution...
The trajectory of incoming missile and shrapnel are analyzed to make sure that the incoming missile would be within the distribute range of bullets dispersed by the shrapnel. In the case of the center of bullet group hits the target, the miss distance is optimized with the angle of fire and direction angle as the optimization variables in MATLAB. An unconstrained optimization function `fminsearch'...
This paper proposes a dual current-slope rotor position estimation and its relative sensorless closed-loop drive system for synchronous reluctance motors. First, the mathematical model of the synchronous reluctance motor is discussed. Then, a new rotor position/speed estimator of the synchronous reluctance motor is proposed. The proposed method uses dual current-slope to estimate the rotor position...
In this paper, design of an adaptive neural network based interval type-2 fuzzy logic controller (ANNIT2FL), circular and handwriting type trajectory planning are proposed to show ability of a 3-DOF( Degree of Freedom ) Scara type robot manipulator. The kinematic and the dynamic equations are used to obtain equations of motion of robot manipulator and three different rise functions are chosen for...
Hydraulic actuator has been widely used in industrial equipments and processes principally due to its high-power density and system solution that it can provided. The natural nonlinear property of hydraulic cylinder has challenged researchers in designing suitable controller for positioning control, motion control and tracking control. This paper proposes a controller design using trajectory-adaptive...
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