fuzzy control in robotics

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Ngày tải lên: 01/01/2014, 20:12

... Promising Research Approaches 240 Task Synchronization via Integration of Sensing, Planning, and Control in a Manufacturing Work-cell Tzyh-Jong Tam, Mumin Song, and Ning Xi 245 1. Introduction ... adeluca@giannutri, caspur, it B. Siciliano and K.P. Valavanis (Eds) Control Problems in Robotics and Automation ~ Springer viii Preface Multifingered robo...

Ngày tải lên: 12/06/2014, 11:52

... ( ) ns 2 ( ) ns I ( ) nx 1 ( ) nx 2 ( ) nx P () ns 1 ( ) nr () ny 1 () ny 2 () ny O W V New Developments in Robotics, Automation and Control 24 terms of optimal control techniques. All the constraints introduced by kinematics and dynamic limits on mobility of the moving ... 1 − =QR. Quasy-Newton New Developments in Robotics, Automation and Control...

Ngày tải lên: 27/06/2014, 06:20

... solutions to the identified problems.< /b> The book contains a selection of invited and < /b> submitted papers presented at the International Workshop on Control < /b> Problems < /b> in < /b> Robotics < /b> and < /b> Automa- tion: Future ... control < /b> and < /b> passivity-based control < /b> methods are invoked for stabilization and < /b> tracking control < /b> purposes...

Ngày tải lên: 27/06/2014, 18:20

... shows some comparison of sheaf -solutions t,u H and t,u H for many kinds of fuzzy controls p u(t),u(t) U E∈⊂ in Sheaf Fuzzy Control Problem(SFCP) Keywords: Fuzzy Theory, Optimal Control Theorey, ... 2-2006 Trang 5 THE COMPARISON OF SHEAF- SOLUTIONS IN FUZZY CONTROL PROBLEM Nguyen Dinh Phu , Tran Thanh Tung Faculty of Mathematics and Computer Scien...

Ngày tải lên: 22/07/2014, 10:22

... Automatic control. 2. Robots- -Control systems. 3. Automation. L Siciliano, Bruno, 19 5 9- IL Valavanis, K. (Kimou) UI. Series TJ 213 .C5725 19 98 629.8 - -dc 21 9 7-3 19 60 Apart from any fair dealing ... Switching Equations 10 9 2.3 Stability of the Locomotion 11 0 3. Control of Bipedal Robots 11 3 3 .1 Active Control 11 3 3.2 Passive Control 11 4 4. O...

Ngày tải lên: 10/08/2014, 01:23

... stability. Briefly speaking, model-based control can be classified into two cat- egories: linearization via nonlinear feedback [20 , 21 ] and passivity-based con- trol [2, 19, 23 ]. Linearization approaches ... force/position control of robot manipulators. In: Gi- ralt G, Hirzinger G (eds) Robotics Research: The Seventh International Sym- posium. Springer-Verlag, London,...

Ngày tải lên: 10/08/2014, 01:23

... by z~h = [I - (c~z~ + c~)(z~ + c~ + z~ )-~ c3] -~ x [(C2Ze ~- C4)(Zs J- Cs J- Ze)-ICl ~- (Zm ~- Fro)]. (2 .3) 2.5 Controller Design via Standard Loop Shaping Tools A number of controller synthesis ... me- chanical design, sensing and actuating systems, and also proposed interesting analysis and control problems, concerning e.g. the distribution of control...

Ngày tải lên: 10/08/2014, 01:23

... forces, ~-f is the vector of external contact forces and moments, and 7- is the vector of control input forces and moments. 10 8 44 g2 ~0 -2 -4 -6 10 15 20 time (sec) (a) Task running ... position 5( 4( &apos ;- - - &apos ;- - - - ~3( ~2( -1 5 ~o 15 time (see) (c) Task running 18 times for pole angle 20 5 4 3 42 0 -1 0 5...

Ngày tải lên: 10/08/2014, 01:23

... proceeds in an incremental way by solving a series of partial linearization and input-output decoupling problems, directly defined on the robot dynamic model (2.4 )-( 2 .5) . 2.2.1 Step 1: Input-output ... By working in the Fourier domain, this method defines the required open-loop control torque in one step (for linear models of one-link flexible arms) or in few iterations...

Ngày tải lên: 10/08/2014, 01:23

... stable when the eigen- values v{, of the linearized map, 6~ { = DPk(~ *) 6~ {-1 (2.8) Free-Floating Robotic Systems Olav Egeland and Kristin Y. Pettersen Department of Engineering Cybernetics, ... y- and z-axis available, only control force in the body-fixed x-direction and control torques around the body-fixed y- and z-axis, is shown in Fig. 9.1. z [m] i!i iiiiii...

Ngày tải lên: 10/08/2014, 01:23

... X- and Y- axis scaling factor in pix- els/mm, a~ and c~, image plane offset in pixels (Xo, Yo), focal length f, and the extrinsic parameters representing the camera position in world coordi- ... like in highways. The general problem of car platooning in highways and transportation systems is indeed Vision-based Robot Control 181 3. Vision in Control Sanderson a...

Ngày tải lên: 10/08/2014, 01:23

... Khosla P K 199 3 Increasing the tracking region of an eye -in- hand system by singularity and joint limit avoidance. In: Proc 199 3 IEEE Int Con] Robot Automat. Atlanta, GA, vol 3, pp 41 8-4 23 [26] ... Fusion Integr Intel Syst. Washington, DC, pp 51 7-5 24 [28] Luo R, Kay M G 198 9 Multisensor integration and fusion in intelligent systems. IEEE Trans Syst Man Cyber. 19: 90...

Ngày tải lên: 10/08/2014, 01:23

... useful in restricting input. Potential fields can be divided into two main groups, attractive and repulsive potentials. The at- tractive potentials are used for maintaining and enabling constraints, ... to minimize the weighted tardiness and ear- liness penalties subject to the above mentioned constraints by selecting ap- propriate operation beginning times. Since all the constrai...

Ngày tải lên: 10/08/2014, 01:23

... 2002 â Gal Kaminka, 3 This week, on Robots I….  Fuzzy Logic basics  A crash course in Fuzzy Control  Fuzzification, Inference, Defuzzification  Applications of Fuzzy Control in robotics  Simple ... I Agents in Physical and Virtual Environments Lecture 4: Fuzzy Control in Robotics Gal A. Kaminka galk@cs.biu.ac.il Fall 2002 â Gal Kaminka, 2 Previously, on Robot...

Ngày tải lên: 26/10/2014, 14:34