Open Access. Powered by Scholars. Published by Universities.®
- Institution
- Publication
- Publication Type
Articles 1 - 5 of 5
Full-Text Articles in Computer Engineering
Compensation Sliding Cross Coupling Control Research Of Cartesian Coordinate Robot, Wang Wei, Zhimei Chen, Zhenyan Wang
Compensation Sliding Cross Coupling Control Research Of Cartesian Coordinate Robot, Wang Wei, Zhimei Chen, Zhenyan Wang
Journal of System Simulation
Abstract: For a typical Cartesian coordinate robot controls precision is low, based on a single-axis mathematical model, a contour error model for a typical robot whose axes are orthogonal to each other is established. An improved double-power approach law is used to design a terminal sliding mode controller to improve the robot. The integral compensation terms are added to stably compensate the position accuracy of each axis to improve the overall trajectory tracking accuracy, and the cross-coupling control between the axes is used to eliminate the contour error between the axes. It not only weakens the chattering of traditional sliding …
Traversal Path Planning And Simulation Of Robot Based On Radiation Scanning, Bin Lin, Guanghui Han, Chenchen Song, Yajing Zhang
Traversal Path Planning And Simulation Of Robot Based On Radiation Scanning, Bin Lin, Guanghui Han, Chenchen Song, Yajing Zhang
Journal of System Simulation
Abstract: Aiming at the high repetition rate and many turns of robot paths based on BINN algorithm, an ITPPA combining the template model and the RS algorithm is proposed. The BINN algorithm is used to formulate the non-obstacle walking strategy. Multiple obstacle avoidance path templates are designed to ensure that the robot could avoid obstacles in an orderly manner. RS algorithm is used to guide the robot to escape the dead zone quickly. Simulation results show that, compared with BINN algorithm, ITPPA could not only effectively reduce the path repetition rate and the number of turning and energy consumption …
Visual Feedback Fuzzy Control For A Robot Manipulator Based On Svr Learning, Xianxia Zhang, Jinqiang Zhang, Zhiyuan Li, Shiwei Ma, Banghua Yang
Visual Feedback Fuzzy Control For A Robot Manipulator Based On Svr Learning, Xianxia Zhang, Jinqiang Zhang, Zhiyuan Li, Shiwei Ma, Banghua Yang
Journal of System Simulation
Abstract: A fuzzy controller based on SVR learning is proposed for uncalibrated robot visual servoing. In this paper, a fuzzy controller is used to directly construct the nonlinear mapping between image features and robot joint motion. The fuzzy basis function of the fuzzy controller is taken as the kernel function of an SVR and the equivalent relationship between the SVR and the fuzzy controller is established. The learned support vector from the SVR is used as the rule of the fuzzy controller. Since all rules are learned from the data, there is no need to manually design the rules. …
Uncalibrated Visual Servoing Based On Kalman Filter Optimized By Spsa, Jinqiang Zhang, Xianxia Zhang
Uncalibrated Visual Servoing Based On Kalman Filter Optimized By Spsa, Jinqiang Zhang, Xianxia Zhang
Journal of System Simulation
Abstract: Considering the problem of robot uncalibrated visual servoing, this paper presents a method for online estimation of image Jacobian matrix based on Kalman filter optimized by simultaneous perturbation stochastic approximation algorithm. This method takes the robot image Jacobian matrix as the system state, and uses Kalman filter to observe the system state. In order to improve the performance of the filter, the simultaneous perturbation stochastic approximation algorithm is used to optimize the filter parameters. This method is used to estimate the image Jacobian matrix and to design the control strategy, which can avoid complicated system calibration process. The simulation …
Evolving Soft Robots With Vibration Based Movement, Andrew Danise
Evolving Soft Robots With Vibration Based Movement, Andrew Danise
Honors Theses
Creating effective designs for soft robots is extremely difficult due to the large number of different possibilities for shape, material properties, and movement mechanisms. Due to the lack of methods to design soft robots, previous research has used evolutionary algorithms to tackle this problem of overwhelming options. A popular technique is to use generative encodings to create designs using evolutionary algorithms because of their modularity and ability to induce large scale coordinated change. The main drawback of generative encodings is that it is difficult to know where along the ontogenic trajectory resides the phenotype with the highest fitness. The two …