Stable segment formation control of multi robot system

... stability of formation control of multi- robot systems A detailed analysis of the qualitative characteristics of two nonlinear feedback controls of mobile robots is presented The robustness of a tracking ... Velocity of robot during 3 -robot triangle formation control 120 4.35 Headings of all robots during 3 -robot triangle formation control 121 4.36 Snapsho...

Ngày tải lên: 10/09/2015, 15:52

... Convex hull of x1 , x2 , , xn xi State variable of agent i x The vector with its i-th element denoted by xi Xi Constraint set of agent i Ni The set of neighbors of agent i G(V, E) A graph with vertex ... of the consensus problem 1.1 Background Cooperative control of multi- agent system is a decentralized control scheme Agents are connected via a communicat...

Ngày tải lên: 09/09/2015, 09:58

... the ability to recognize points of intervention and to construct a bank of options for resource management” The role of modeling is formulated in this context: “Modeling proceeds iteratively by ... given needs the model helps the management of different sluices The main potential input of multi-agent modelling is the representation of decisionmaking process The bio-physical...

Ngày tải lên: 16/10/2013, 01:15

... nghị điều khiển thích ứng dùng để điều khiển hệ thống xác định phần ứng dụng vào việc đIều khiển robot di đông hàn hai bánh xe Hệ thống ổn định theo tiêu chuẩn Luapunov Moment quán tính hệ thống ... f () ] (7 ) Nừu luật đIều khiển ảo (virtual control) đạt giá trị = , hệ thống phụ (1 ) ổn định với & = K Đặt z sai số luật đIều khiển...

Ngày tải lên: 10/12/2013, 13:16

Ngày tải lên: 13/02/2014, 08:20

... Given the plasma concentration of AT and the rates of interaction in the presence and absence of heparin pentasaccharide (Table 1), one can calculate that the half-life of enzyme activity in the absence ... future Control of the coagulation system by serpins 10 11 Acknowledgements This work was supported by the National Health & Medical Research Council of...

Ngày tải lên: 20/02/2014, 02:21

... Inc Canadair Division 18 00 Marcel Laurin St Laurent, Quebec Canada H4R 1K2 ISSN 017 0-8 643 ISBN -1 0 ISBN -1 3 3-5 4 0-2 507 1- 9 Springer Berlin Heidelberg New York 97 8-3 -5 4 0-2 507 1- 5 Springer Berlin Heidelberg ... 14 8 6.2 .1 Selection of Desired Impedances 14 8 6.2 .1. 1 Stability Analysis 14 9 6.2 .1. 2 Impedance-controlled Axis 15 0 6.2 .1. 3 Force-controlled...

Ngày tải lên: 10/08/2014, 01:22

... = Je q + Je q (2. 2.4) where J e is the m n Jacobian of the end-effector For a redundant manipulator, equations (2. 2.1), (2. 2 .2) and (2. 2.4) represent under-determined systems of equations J e ... (SPDM) of Canadarm -2 designed for the International Space Station While most non -redundant manipulators possess enough degrees -of- freedom (DOFs) to perform their main task(s),...

Ngày tải lên: 10/08/2014, 01:22

... 2.6 26 Redundant Manipulators: Kinematic Analysis and Redundancy Resolution 1.5 0.5 -0 .5 -1 -1 .5 -1 .5 -1 -0 .5 0.5 1.5 2.5 Figure 2.6 Reachable workspace and desired trajectory for a 3- DOF planar ... inactive -2 0 q1 -4 0 q3 -6 0 -8 0 qmin (3) 0.2 0.4 0.6 0.8 Time (s) 1.2 1.4 1.6 1.8 Joint variables (Inequality constraint) 40 20 deg b) JLA active q2...

Ngày tải lên: 10/08/2014, 01:22

... by d k the set of distances of B i and T i to B j and T j , i.e 44 Collision Avoidance for a 7-DOF Redundant Manipulator Figure 3.3 (A-1) Body-Body collision (non-parallel and non-intersecting ... H i and H j of L i and L j (with H i and H j being the closest points of the two lines to the origin), then the dual representation of N ij is given as 48 Collision Avoidan...

Ngày tải lên: 10/08/2014, 01:22

... Simulation for a 7-DOF Redundant Manipulator W P = 0I 3 e W O = 10I 3 e Wv = I7 450 400 350 300 250 (c) 200 150 100 50 -5 0 0 .5 1 .5 time (s) -4 x 10 (d) -1 -2 -3 -4 0 .5 1 .5 time (s) Figure 3.12 ... 100 mm - - - W c = 0.01 , _ W c = -. - .- W c = 10 5 –4 , (collision occurred) ( 150 10 ) 140 130 120 Boundary of the object 110 (a) 100 90 80 70 60...

Ngày tải lên: 10/08/2014, 01:22

... 67 3.3 Kinematic Simulation for a 7-DOF Redundant Manipulator - - - k = 100 , _ k = , -. - .- k = 0.01 (obstacle’s radius = 70 mm and SOI = 100 mm) Critical Distance ... between position and force controlled subspaces, and no attempt is made to R.V Patel and F Shadpey: Contr of Redundant Robot Manipulators, LNCIS 3 16, pp 79–117, 2005 © Springer-Verlag B...

Ngày tải lên: 10/08/2014, 01:22

... impedance controller which overcomes this problem will be proposed in next section 4.3 Schemes for Compliant and Force Control of Redundant Manipulators The problem of compliant motion control of redundant ... Hence, the closed- A hybrid position and force controller is proposed in [56] where the task space is divided into two orthogonal subspaces - position controlled...

Ngày tải lên: 10/08/2014, 01:22

... of Redundant Manipulators 60 1.5 40 final 20 0.5 -2 0 initial -4 0 -6 0 -0 .5 -0 .5 0.5 1.5 -8 0 0.2 0.4 (a) 0.6 0 .8 (b) -3 x 10 100 80 60 40 20 0 -2 0 -1 -4 0 -2 -6 0 -3 0.5 (c) 1.5 0.5 1.5 (d) a) Robot ... error (mm) 98 Contact Force and Compliant Motion Control -6 5 -7 0 -7 5 -8 0 -8 5 (c) -9 0 -9 5 -1 00 -1 05...

Ngày tải lên: 10/08/2014, 01:22