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This paper deals with the trajectory planning of a full-rotate parallel robot for wafer transfer operations. With the path length in work space of the robot as parameter, the dynamic model is parameterized. The system constraints-input torque and velocity constraints and the task constraints-output velocity, acceleration, and jerk limits are set; with the minimized operation time as the optimization...
One of the most challenging issues in astrodynamic is the control of the satellites, in order to achieve a certain trajectory or to maintain some specific position with respect to a planet or to other spacecrafts. An interesting and quite innovative problem is the control of satellites around the five Lagrangian points of a binary system, using continuous thrust. In this work, using a complex and...
The ability of walking in a wide variety of terrains is one of the most important features of hexapod insects. In this paper we describe a bio-inspired controller able to generate locomotion and switch between different type of gaits for an hexapod robot. Motor patterns are generated by coupled Central Pattern Generators formulated as nonlinear oscillators. These patterns are modulated by a drive...
This article describes a new control scheme designed for a three-degree-of-freedom (3-DOF) flexible robot. The control scheme consists of a two multivariable control loops; the inner loop controls the position of the motors, and the external loop controls the tip's position and cancels the vibration. The outer control loop, as will be shown, is robust to tip mass variations. Simulations are carried...
This paper considers the problem of leader-follower formation control for multiple Autonomous Underwater Vehicles (AUVs) in spatial motions. The objective is to derive a leader robot along a desired trajectory, and make the follower robots keep a desired formation with respect to the leader's configuration in 3-dimensional spaces. Unlike previous studies on formation control of multiple AUVs, hydrodynamic...
Using a pen-type haptic device, we consider two problems of modeling and reconstructing characters, and of human learning of writing motions with the haptic aid. We first model handwritten characters by employing the so-called dynamic font method and theory of smoothing splines. Also, the calligraphic writing experiments are performed using haptic device with an idea of trajectory tracking control...
A new approach for the transportation of objects within production systems by throwing and capturing is investigated. For the purpose of throwing objects in direct hits into a capturing device, the trajectory has to meet it in a predefined position. Therefore, the corresponding trajectory has to be simulated and appropriately controlled by the required launch angle as well as launch velocity. This...
To meet the requirements of the tactical targets, in the progress of the missiles' flight, we often give the related parameters a range to make the targets to extreme. In this paper, we use variable Calculus to learn about the variation of the deflection in missiles' flight trajectory and the method that can make the missiles reach a certain height in the shortest time. Then with the help of the software-MATLAB,...
Trajectory is defined as a movement of an object in space and time, which consists of a set of spatial and temporal data. Exploration of this dataset can be used to extract the movement behaviour of moving objects that is previously unknown. This research proposes several alternatives on how to retrieve information from trajectory dataset in a database system with the Antarctic's iceberg movements...
The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of composite Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD-type...
Motion planning is one of the fundamental problems in autonomous robotic navigation. However, usually the dynamic model of the robot is not considered on most of the basic motion planners, resulting in trajectories that may be difficult to be tracked by real robots. This paper describes the sampling-based Kino dynamic motion planning of a skid-steering mobile robot using the Rapidly-exploring Random...
This paper focuses on the trajectory tracking control problem of a four wheeled omni directional mobile robot. The controller architecture considers both the kinematic and the dynamic control in a cascade structure, where a model predictive controller (MPC) is used to control the robot dynamics. Part of the control effort is used to compensate the friction effects, allowing for the use of efficient...
When there is the need of a robotic manipulator to follow a certain smooth and continuous trajectory, it involves the specification of the curve to be followed and the way the gripper should behave alongside it. This work aims to identify and analyze a technique to be used in a 3D virtual robotic simulator that executes smooth and continuous movements. It also aims to develop a method for trajectory...
Based on the developed nonlinear dynamic equations of a quadrotor (named as Qball-X4) UAV (Unmanned Aerial Vehicle), attitude and trajectory tracking control designs based on an inner/outer loop control structure has been proposed in this paper. Feedback linearization is designed to control the attitude stability in inner loop, traditional PID is designed to follow trajectory in accordance with pre-planned...
This paper presents the design, implementation, and comparative analysis of two intelligent neural network based controllers employed for nonlinear dynamic compensation and adaptive trajectory tracking of a mobile robot system. The first control law is an integration of a backstepping controller with a neural network which is designed to learn the inverse dynamic model of the robot and to compensate...
The article demonstrates how to generate the trajectory, taking into account the concept of the tunnel of error that ensures route trace with an error no greater than assumed, even in difficult to predict environmental conditions. The mathematical model of kinematics and dynamics using spatial vectors is presented in short. The theoretical assumptions are tested by simulation. The model used in the...
This paper presents the kinematic analysis of a new 6-DOF haptic interface and control system analysis for the tele-operation of 6-DOF serial robot. The haptic interface consists of two 3-DOF parallel structures connected with a steering handle. The design satisfies requirements of low mass moment of inertia, quick motion, big rotation, and large applied torques. Kinematics for position and differential...
This paper presents a method to model and reproduce cyclic trajectories captured from human demonstrations. Heuristic algorithms are used to determine the general type of pattern, its parameters, and its kinematic profile. The pattern is described independently of the shape of the surface on which it is demonstrated. Key pattern points are identified based on changes in direction and velocity, and...
This paper deals with the link-tip trajectory tracking control and vibration suppression of the flexible-link robot arm. The assumed mode shape method and the Bernoulli-Euler beam model are employed to establish the nonlinear dynamic model of the single-link flexible robot arm. A nonlinear feedback control method based on the model is adopted to partly decouple the joint variable and elastic deformation...
According to the disadvantage of low precision and big error in previous shearer positioning system, the author proposes a new design concept: using the sensor information of shearer, scraper conveyor and hydraulic supports to define the shearer's position which is called "three-machine position", combining the sensor information of motion state and static state which is called "static...
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