Intelligent control of robots interacting with unknown environments

... interact with unknown environments While impedance control is acknowledged to be a promising method for robots interacting with unknown environments, one critical problem is the impedance control ... background and motivation for conducting the research on intelligent control of robots interacting with unknown environments Impedance control design, impedan...

Ngày tải lên: 08/09/2015, 18:23

... applications, etc.) Therefore, control systems of the current and future generations of robots required such capabilities 22.2 Hierarchical Control of Robots Control systems which can accommodate ... generations of robots have to take into account the dynamics of robots The control law which takes into account all (or some of) dynamic forces in the robotic syst...

Ngày tải lên: 11/08/2014, 15:21

... designed the study AH and RS analyzed the data DW and RS supervised the clinical sample and data collection DW treated all cases AH and DW wrote the main part of the paper RS contributed to writing the ... doi:10.1186/174 6-1 60X- 6-3 Cite this article as: Wiechmann et al.: Control of mandibular incisors with the combined Herbst and completely cu...

Ngày tải lên: 11/08/2014, 20:20

... Randomized Algorithms for Control of Uncertain Systems with Application to Hard Disk Drives Mohammadreza Chamanbaz B.Sc., Shiraz University of Technology (SUTECH) A THESIS SUBMITTED FOR THE ... propose two classes of randomized algorithms: i) Sequential randomized algorithms for solving uncertain convex optimization problems and ii) Randomized algor...

Ngày tải lên: 09/09/2015, 11:33

... the control of marine shafting systems A case study on the application of intelligent control in marine shafting systems modeled as a chained multiple mass-spring system is presented where the control ... increasingly complex systems have led to extensive research in the field of control theory to develop novel control methodologies or to extend existing control desig...

Ngày tải lên: 11/09/2015, 16:04

... character of the hysteresis Interest in control of dynamic systems with hysteresis is also motivated by the fact that they are nonlinear systems with nonsmooth nonlinearities for which traditional control ... plant S2 with classic PI hysteresis1 02 4.13 Control signals of MIMO plant S2 with classic PI hysteresis 102 x List of Figures 4.14 Norm of NN weight...

Ngày tải lên: 14/09/2015, 08:39

... development of software solutions of backlash problems in mechanical systems Backlash is common in many components in mechanical and mechatronic systems, such as actuators, sensors and mechanical ... Comparison between the control systems with and without the proposed backlash controller 30 1.2 0.8 0.6 0.4 0.2 Step Response without Backlash Step Response with Back...

Ngày tải lên: 03/10/2015, 21:57

... phase with rotor position Synchronize sine-wave phase with rotor position SINUSOIDAL CONTROL OF PMSM MOTORS WITH DSPIC30F DSC © 2005 Microchip Technology Inc FIGURE 8: SINUSOIDAL CONTROL OF PMSM MOTORS ... Microchip Technology Inc SINUSOIDAL CONTROL OF PMSM MOTORS WITH DSPIC30F DSC IMPLEMENTATION OF SINUSOIDAL VOLTAGE CONTROL control loop on...

Ngày tải lên: 11/01/2016, 16:36

Ngày tải lên: 26/01/2014, 07:20

... mR ˜  F1 ˜ ˜ F = F2  ˜ F3 ˜ B = 0 u1 ˜ 12 0 , u = uβa B (1. 10) (1. 11) (1. 12) (1. 13) 2 ˜ M 11 = Ixf + Ixw + Ixw Cβ + mR2 Cβ + Ixf Cββa (1. 14) ˜ M13 = 2Ixw Cβ + mR2 Cβ (1. 15) ˙ ˙˙ ˜ F1 = (Ixw ... simplification and assumption, the dynamics becomes( [16 ] and [18 ]): ˙ βa = uβa ˜ q ¨ ˜ q ˜ ˜˜ ˙ M (˜)q = F (˜, q ) + B u ˜ 13 (1. 9) with   α q = β  ˜ γ ˜  ˜ M 11 M13 ˜  M =...

Ngày tải lên: 14/09/2015, 08:37

... (4 .22 )  2IxW + mR2  M13 IxF IxF     F1 0     u1 F  0 0 F =  2 , B =  ,u = u2 F3  1 0 F4 where, M11 = IxF + IxW + IxW cos2 β + mR2 cos2 β + IxF cos2 (β + βa ) M13 = 2IxW ... + mR2 ) cos β sin β 2 − IxF cos (β + βa )sin(β + βa ) 2 ˙ ˙ −(2IxW + mR2 ) sin β αγ − 2IxF sin (β + βa )αγa ˙˙ ˙˙ F3 = 2( IxW + mR2 ) sin β αβ ˙ ˙ F4 = −IxF cos (β + βa ) sin (β + βa ) 2 − 2IxF...

Ngày tải lên: 14/09/2015, 08:37

... Practical slip detection and estimation schemes for wheeled mobile robots • General slip control structure for wheeled mobile robots • Robust and real time slip control techniques • Control of wheeled ... Mitsubishi PA10 7DOF manipulator and an omnidirectional wheeled mobile robot with Powered Caster Wheels Unified force/motion control is imp...

Ngày tải lên: 14/09/2015, 08:43

... Cellular < /b> Membrane < /b> Proteins < /b> Interacting < /b> novel ErbB3 -interacting < /b> factors using the split-ubiquitin membrane < /b> with < /b> HBsAg yeast two-hybrid system Genome Res 2003; 13: 1744-1753 Clone Cellular < /b> Membrane < /b> ... suitable for the analysis of < /b> interaction between membrane < /b> bound proteins < /b> The split-ubiquitin yeast t...

Ngày tải lên: 02/11/2012, 11:08

Ngày tải lên: 17/10/2013, 19:15

... electromagnetictorque when just torque iS controlled _ without flux control under 1.2 N m load with non- ideal trapezoidal back- EMF ,1 (reference torque is 1.225 N m) (a) the back- EMF is not ideally ... the control of a nonsinusoidal brushless dc motor, " in Proc IFEE-JECON Annu Meeting, Orlando, FL, Nov 610, 1995, vol 2, pp 836-843 [9] M Ehsani, R C Becerra, "High-s...

Ngày tải lên: 03/01/2014, 19:44