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A pursuer UAV tracking and loitering around a target is the problemanalyzed in this work. The UAV is assumed to be a fixed-wing vehicle and constant airspeed together with bounded lateral accelerations are the main constraints of the problem. The pursuer motion control law proposed in this paper is based on the definition of an oscillatory motion created by a center of oscillation: it allows the pursuer...
In order to minimum the time-to-climb of hypersonic vehicle, the trajectory of hypersonic vehicle boost segment is studied. The optimal control model of boost trajectory is analyzed, and Gauss pseudospectral Method (GPM) is applied to discretize the optimal problem into nonlinear programming problem (NLP). Finally, Matlab software package SNOPT is used to solve the NLP problem. Numerical simulations...
It has been shown that any movement that satisfies the minimum joint angle jerk constraint can be reproduced by linear combination of 6 consistent Movement Elements (MEs). In this work, we assumed that any given movement is consisted of several successive phases (without overlap) such that each phase satisfies the minimum joint angle jerk constraint. Based on this assumption, we have developed a new...
In this paper, we propose a method to track multiple players in a football match video which is captured by a single camera. The camera pans and brings the players and the ball into the view, enabling to record the whole pitch. The players' trajectories in frames and camera movement are obtained to estimate the trajectories on the pitch. Moreover, we propose an effective tracking method for solving...
In this paper, perfect trajectory tracking of a non-holonomic Wheeled Mobile Robot (WMR) is developed. The Feedback Linearization (FL) methods may be used to make convergence of WMRs on desired position, and orientation trajectories. Due to the weak performances against exogenous signals, the FL controller is replaced by a Sliding Mode Controller (SMC). Using the SMC with a saturation term may not...
Based on the global optimization design method of Mechatronics, from the perspective of the performance optimization of the overall CNC equipment, the dynamic model of the controlled mechanism is built, and then which is used to research on the error-free trajectory tracking for the controlled mechanism. Based on the model of the error-free trajectory tracking, NC instruction interpretation with high-order...
As an important area of the high-tech research, robotics technology is attached importance by governments. It has become important equipment in manufacturing of a country's manufacture level and technological level. Robot kinematics analysis is the basis of robot motion control. According to the specific characteristics of MOTOMAN-HP20 manipulator, this paper established a kinematics model and set...
In this paper, the problem of tip position tracking control of a rigid-flexible manipulator is investigated. The backstepping design scheme is developed for this tracking control problem. The proposed backstepping controller stabilizes the flexible robotic manipulator while driving the trajectory tracking error and the tip-deflection asymptotically to zero. As a case study, the needle insertion problem...
In low-friction position-controlled devices, velocity feedback is required for a proportional-derivative (PD) controller to inject damping into these devices to remove low-frequency vibration. It is known that, in the case of using low resolution sensors, the velocity obtained through numerical differentiation is corrupted by high-frequency noise. Thus, the use of a PD controller results in high-frequency...
A flying model and a rebound model are presented for the trajectory prediction of table tennis ball in this paper based on the assumption that the ball would fly without spin before rebound. The analytic solution for the flying model is also given. The rebound model in Z axis is based on height loss coefficient, and a learning method based on one order polynomial is proposed. Experiments show that...
Force control algorithm of the robot manipulator contacting with a constraint surface with uncertain figure and stiffness error is discussed in this paper. To accomplish the accurate parameter less-relying constraint motion, a real-time adjusting fuzzy logic of reference trajectories in impedance model is proposed. The adjustment depends on the real-time force and position feedback. Simulation experiments...
In this paper, a novel method for robotic belt grinding based on support vector machine and particle swarm optimization algorithm is presented. Firstly, the dynamic model of the robotic belt grinding process is built using support vector machine method. This is the basis of our work because the dynamic model shows the relation between the removal and control parameters (contact force and robot's speed)...
It is a key issue for table tennis robot that the flight trajectory of ball could be rapidly predicted within a certain precision. Due to the nonlinear model of the ball's flight, only all state including the position and velocity at each event are catched, could its whole trajectory be obtained. However, since only the position could be measurable by cameras, the velocity should be predicted by the...
Many walking pattern generators for humanoid robots require predefined trajectories for the robot to track. This inflexibility limits the range of real-world environments that the robot can navigate through. For environments with obstacles and inconsistent terrain, the ability to change the walking trajectory becomes valuable. Using a miniature humanoid, a three-dimensional inverted pendulum model...
This article is aimed at presenting a technique to generate bipedal walking trajectories that can be applied to humanoid robots. The proposed method is based on maintatining the dynamic balance by using the ZMP criterion throughout single support phases. To be able to reach this goal, we employed ZMP equations in spherical coordinates, so that the rate change of intrinsic angular momentum terms in...
In this paper, a sliding mode control law is proposed for nonholonomic wheeled mobile robots using back-stepping technique. In order to resolve the speed jump problem existing in traditional sliding mode tracking controller, a novel sliding mode control law is designed based on neural dynamics model. The simulation results verify the effectiveness of the proposed controllers.
This paper proposes a strategy for bipedal robot walking on inclined surfaces using position and orientation based inverse kinematics algorithm. Some researchers implemented control approaches to solve bipedal walking on inclined surfaces. Generally, most of them apply control feedback at ankle joints and also introduced many more control methodologies. In this paper, inverse kinematics methodology...
In this paper, a new approach to identify the parameters of robot manipulator dynamics is presented. The approach is based on exciting the robot manipulator with multiple identification trajectories that pass through the operating point with specific speeds and accelerations. The position, velocity and acceleration of the robot joints along with the corresponding torque at the operating point are...
Parallel parking is challenge for all drivers say amateurs or the experts. An automatic car parking system is a solution to this ordeal. This vehicular technology has been implemented using many other systems but a cost effective, simple and accurate solution will be greatly appreciated. This paper explains in detail a simple and precise autonomous car-parking algorithm for Ackerman steering configuration...
To have a complete model of a thunniform Fish-Robot, models of both body and tail are required. The dynamic model of the body is developed according to the parameters of a thunniform Fish-Robot built in MIT University, while, as the main part of this paper, the dynamic model of the tail is developed using fuzzy logic. Using experimental data and table look-up scheme, a fuzzy black box is introduced...
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