Control of a macro mini robotic manipulator

... (similar to that of the Macro manipulator) , small tracking and steady state errors (similar to that of the Mini manipulator) Thus, the combined system has taken full advantage of the Macro and Mini ... computational/software models of the Macro and the Mini manipulators separately, analyzing their kinematics, dynamics; Simulating trajectory tracking / position control...

Ngày tải lên: 03/10/2015, 21:56

... (similar to that of the Macro manipulator) , small tracking and steady state errors (similar to that of the Mini manipulator) Thus, the combined system has taken full advantage of the Macro and Mini ... computational/software models of the Macro and the Mini manipulators separately, analyzing their kinematics, dynamics; Simulating trajectory tracking / position control...

Ngày tải lên: 04/10/2015, 07:58

... develop a controller for temperature control inside a room within a desired band of temperatures for comfort The details of the geometry of the room and the HVAC system based on displacement ventilation ... disadvantages of the DMC controller First, the DMC controller is a local controller which can only guarantee the stability of the...

Ngày tải lên: 05/09/2013, 16:11

... therefore in this paper a new transformation which preserves the same advantages as the Park transformation A Mathematical Model of the BDCM We suppose that the motor has the following typical features ... pulsating torque (the homopolar part) and a two-phase motor with a rotating field (the "ap" The classical Park transformation is, in fact, the succ...

Ngày tải lên: 03/01/2014, 19:44

... grad r dually as a re esult of the c controllable dc link volta as indica in the ri age ated ight hand sub b diagram d Figure capacitor v voltage of the output filt with unbalanced load and controlled ... small compared to the dc voltage portion, so that it does not affect the output voltage References [1] Takao Kawabata, Takeshi Miyashita and Yushin Yamamoto, "Digital...

Ngày tải lên: 19/01/2014, 02:20

... The lab itself is located in a 1600 square foot trailer at VTTI It contains a scale roadway and several 1/10 scale cars Each car is capable of operating manually or autonomously The cars are described ... other cars, pedestrians, animals, etc.; adaptive cruise control to maintain a safe speed; collision avoidance to avoid hitting obstacles in the roadway; and lateral control to main...

Ngày tải lên: 14/03/2014, 14:20

... doi:10.1186/1743-0003-7-16 Cite this article as: Matrone et al.: Principal components analysis based control of a multi-dof underactuated prosthetic hand Journal of NeuroEngineering and Rehabilitation 2010 7:16 Submit ... Ferrata 1, 27100 Pavia, Italy 2ARTS Lab, Scuola Superiore Sant’Anna, V.le Piaggio 34, 56025 Pontedera (PI), Italy 3EUCENTRE Foundation, Via Ferrata 1, 27...

Ngày tải lên: 19/06/2014, 08:20

... Force–feedback interaction with a neural oscillator model: for shared human–robot control of a virtual percussion instrument Edgar Berdahl∗ (edgar.berdahl@imag.fr), Claude Cadoz (claude.cadoz@imag.fr) ... Using a mechanical analog parameterization, we derive a force–feedback model structure that enables a human to share con- trol of a virtual percussion...

Ngày tải lên: 21/06/2014, 17:20

... The lab itself is located in a 1600 square foot trailer at VTTI It contains a scale roadway and several 1/10 scale cars Each car is capable of operating manually or autonomously The cars are described ... other cars, pedestrians, animals, etc.; adaptive cruise control to maintain a safe speed; collision avoidance to avoid hitting obstacles in the roadway; and lateral control to ma...

Ngày tải lên: 27/06/2014, 18:20

... 10 Mathematical Modeling and Control Algorithm 3 .1 11 Mathematical Modeling 11 3 .1. 1 Nonholonomic Contraints 11 3 .1. 2 Global Coordinate ... 74 E .1 FLASH vehicle prototype number 11 5 E.2 FLASH vehicle prototype number 11 5 E.3 The FLASH lab 11 6 E.4 Another ... 15 3.2.3 Input-Scaling Controller 16 Curvature Estimation 4 .1 17 Estimation Based on the Steering Angle φ...

Ngày tải lên: 10/08/2014, 02:20

... development 2. 1 2. 1.1 Purpose Scale Model Testing The FLASH laboratory was created at VTTI as one stage in the four-stage development of automated highway systems Each of the stages is shown in Fig 2. 1 ... major reasons is safety In 20 00, there were approximately 6,394,000 police reported motor vehicle traffic crashes, resulting in 3,189,000 people being injured and 41, 821 lives lost [...

Ngày tải lên: 10/08/2014, 02:20

... dc(s)) + sin2 θp (1 − dc(s))2 tanφ + cos2 θp lcos3 θp x3 = (1 − dc(s))tanθp x4 = d 16 (3. 14) (3. 15) (3. 16) where the variables are defined in Fig 3. 3, c(s) is the path’s curvature, and c (s) denotes ... ˙ y˙1 = y + lθcosθ ˙ (3. 5) (3. 6) Applying the no-slippage constraint to the front wheels gives x1 sin(θ + φ) = y˙1 cos(θ + φ) ˙ (3. 7) ˙ Inserting (3. 5) and (3. 6) into (3. 7) and solvi...

Ngày tải lên: 10/08/2014, 02:20

... = f 24 (4. 19) (4. 20) Now given a point (x , y ) in the image plane, (4. 19) and (4. 20) can be solved for x and z Using (4. 20), z can be found as z = −d(f cosα + y sinα) y cosα − f sinα (4. 21) ... ycosα + zsinα zc = −ysinα + zcosα (4. 14) (4. 15) (4. 16) However, y is fixed at −d The coordinates in the image plane are then given by: x y xc zc yc = f zc = f (4. 17) (4. 18) where f is the f...

Ngày tải lên: 10/08/2014, 02:20

... follows x1 = x0 + lcosθ y1 = y0 + lsinθ (5. 2) (5. 3) Knowing two points along the center axis of the vehicle, (x0 , y0 ) and (x1 , y1 ), the slope of y LINE in Fig 5. 2 can be found as x1 −y0 Since LINE ... + y1 (5. 4) where m = x1 −x0 y1 −y0 Next, the point (x2 , y2 ) must be determined by finding the intercept of LINE and the path Setting the right side of (5. 1) equal to the right side of...

Ngày tải lên: 10/08/2014, 02:20

... there were twelve sensors spaced 0.2 inches apart The same gains and initial conditions were used Patricia Mellodge Chapter Simulation Environment 46 Figure 5.5: The control inputs, v1 and v2 ... inputs are constant over the sampling time, as they are on the actual car Patricia Mellodge 5.2 .6 Chapter Simulation Environment 44 Animation Finally, the movement is animated to provide a means...

Ngày tải lên: 10/08/2014, 02:20