dynamic modelling and control of a wheeled mobile robot

... chains of spherical(West and Asada 1992) or cylin- drical wheels (Hirose and Amano 1993), orthogonal wheels (Killough and Pin 1992), and ball wheels (West and Asada 1994). All of these mechanisms, ... caster pro- totype robot was demonstrated (Wada and Mori 1996). A dynamically-controlled, holono mic mobile robot is particularly desirable in a mobile manipulation system for many reasons. A ... d’Andr´ea-Novel (1993, May). Structural properties and clas- sification of kinematic and dynamic models of wheeled mobile robots. In Proc. IEEE In- ternational Conference on Robotics and Au- tomation,

Ngày tải lên: 26/10/2014, 14:32

... technical paper on robotics. Also thanks to Drs. Koh Niak Wu and Mana Seadan for their help along the way. Other sources of inspiration and knowledge have come from Mr. T. Bandyopadhyay, Professor ... Tracking a Locally Predictable Target among Obstacles, In Proc. IEEE Intl. Conf. Robotics and Automation, May, 2006. • Tirthankar Bandyopadhyay, Yuan Ping Li, Marcelo H. Ang Jr., Stealth Tracking ... because it has a lot of build-in control strategies and analysis tools, both linear and nonlinear. There are two possibilities to co-simulate the controller and the system using MSC.ADAMS and Matlab/SIMULINK.

Ngày tải lên: 14/09/2015, 08:43

... controlled variable. 2.4 Summary There is vast literature available on various aspects of distillation design and control, viz steady-state and dynamic modeling, design and control objectives, control structure ... Indicator and Controller, used only as an indicator 3. Design, Simulation and Control of a Depropaniser 27 Table 3.4: Possible Pairings of Controlled and Manipulated Variables Configuration Bottoms Composition V B V B Condenser Level D D L L Base Level B V B V Reflux/ ... distillation column control objectives, which are material balance control, product quality control and satisfaction of constraints. The material balance requires that the average sum of product rates should

Ngày tải lên: 04/10/2015, 17:06

... years, there is a growing recognition that mobile robots have the capability to operate in a wide area and further the ability to manipulate in an automatic and smart way without any actions taken ... correctness and efficiency of the proposed control approaches via Lyapunov standard and Barbalat lemma  Demonstrating the above-mentioned control methods through Matlab/Simulink tool Scientific and practical ... the assumption that the sideslip angle and friction parameter always are measure exactly in real time It goes without saying that accelerates and velocities are always directly measured via affordable

Ngày tải lên: 10/01/2020, 07:10

... years, there is a growing recognition that mobile robots have the capability to operate in a wide area and further the ability to manipulate in an automatic and smart way without any actions taken ... correctness and efficiency of the proposed control approaches via Lyapunov standard and Barbalat lemma  Demonstrating the above-mentioned control methods through Matlab/Simulink tool Scientific and practical ... the assumption that the sideslip angle and friction parameter always are measure exactly in real time It goes without saying that accelerates and velocities are always directly measured via affordable

Ngày tải lên: 16/01/2020, 07:23

... Proc of the 1991 IEEE International Conference on Robotics and Automation, 11301135, 1991 6 G Campion, G Bastin, B D'Andrea-Novel Structural Properties and Classication of Kinematic and Dynamic ... each such case a. .. Nonholonomic Mechanical Systems, Advances in Robot Control, 1991 5 B D'Andrea-Novel, G Campion, G Bastin Modeling and Control of Non Holonomic Wheeled Mobile Robots, ... Models of Wheeled Mobile Robots, IEEE Transactions... on Robotics and Automation Vol 12, 1:47-62, 1996 7 L Caracciolo, A de Luca, S Iannitti Trajectory Tracking of a Four-Wheel Dierentially

Ngày tải lên: 27/06/2014, 18:20

... above are ideal for simulation of various snake robot motion pattern. How- ever, it is also advantageous to model the snake robot base d the standard equations of motion for the dynamics of robot ... framework of non-smo oth dynamics and convex analysis is employed to be able to systematically and accurately incorp orate both unilateral contact forces (from the obstacles and the ground) and ... Control, Dynamical systems, and Computation (CCDC) at the University of California Santa Barbara (UCSB) in the USA. I appreciate the valuable advice and ideas I got from him. In addition, I would

Ngày tải lên: 04/08/2014, 09:37

... Lab NUS, Dr Pablo Alvaro Valdivia of Singapore-MIT Alliance for Research and Technology (SMART), Assoc Professor Marcelo H Ang Jr., Professor Xu Jianxin and Assoc Professor Abdullah Al Mamun of ... Kumar of MNIT Jaipur, Dr Wang Xue, Dr Manasa Behera of Tropical Marine Science Institute (TMSI) NUS, Mr Shailabh Suman of Acoustic Research Lab NUS, Assoc Prof Mandar Chitre of Acoustic Research ... research I wholeheartedly thank Dr Parikshit, Subhash, Saurabh, Dr Zhaoqin, Dr Chinh, Tran, Jeevan, Jayantika, Kalpani, Amit, Sicong and all my colleagues in Electrical Machine and Drives Laboratory

Ngày tải lên: 09/09/2015, 08:13

... [50] M. Fard and S. I. Sagatun, “Exponential stabilization of a transversely vibrating beam by boundary control via lyapunov’s direct method,” Journal of Dynamic Systems, Measurement, and Control, ... Journal Sound and Vibration, vol. 304, pp. 570–586, 2007. [63] N. Tanaka and Y. Kikushima, “Active wave control of a flexible beam (Fundamental characteristics of an active-sink system and its ... initial phases, and later comradeship. Sincere thanks goes to the many colleagues and friends in the Infrastructure Group Laboratory, Control and Simulations Laboratory, Social Robotics Laboratory,

Ngày tải lên: 14/09/2015, 08:37

... that the actuators require The advantage of planning in Cartesian space is that path planning is on parameters with resultant of motions of many actuators, instead of going... linkages ... normal gearbox remains the common selection by small size humanoid robots as they are usually integrated with motors as a compact package by the manufacturer and are much cheaper. However, backlash ... of a humanoid robot, walking stably is a challenging task. Even human beings need months to learn how to walk. Bipedal walking control has been the focus for many researchers. And many approaches

Ngày tải lên: 04/10/2015, 10:25

... human that can do repetitive and hazardous tasks can be dated back to the era of ancient Greek and Egyptian with their automata. More recently, Leonardo da Vinci, a talented and famous Italian artist ... bipedal walking capabilities are just basic features of a robot The features... advanced commercial humanoid robot nowadays, can walk at nearly 0.44m/s on average and a maximum of ... Kajita and Kazuo Tani. Experimental Study of Biped Dynamic Walking, IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 21-27, 1996. [21] K. Mitobe, G. Capi and Y. Nasu.

Ngày tải lên: 04/10/2015, 10:25

... hardware and software interface. The humanoid robot weighs 6kg and stands 48cm tall. It has a total of 20 Degree of Freedom (DOF) - 6 DOF each leg and 4 DOF each arm. The user-developed programs are ... of balance and also the generation of a valid walking pattern. Nevertheless, dynamic walking is a better approach due to the fact that dynamic walking provides faster walking speed and greater ... include localization, image processing, sensor data acquisition and fusion, and local control of the actuators. The task of localization and image processing is somewhat related closely, as the former

Ngày tải lên: 04/10/2015, 10:25

... understanding of flapping flight and it can be used for further development of the EPO Dynamics and Control of a Flapping Wing Aircraft viii Nomenclature AR Wing aspect ratio b Wingspan c Aerofoil ... length of any part of the wing to be as large as 13.4in Hence the average wing chord is obtained from Tobalske (1996) instead Dynamics and Control of a Flapping Wing Aircraft 134 Appendices A2 Prototype ... speed constant will be: (A2 .12) Dynamics and Control of a Flapping Wing Aircraft 136 Appendices A2 .2 Material Density Table A2 .1: Densities of common materials Material Density (g/cm3) Aluminum

Ngày tải lên: 04/10/2015, 17:06

... illustrated in Figure 2.5. Basafa et al. also a verified that the model allows the parameters to be tuned based on experimental data unavailable in previous approaches and this advantage can lead ... Means and standards deviations of the experiment data. The mean and standard deviation curve is then recalibrated to the actual scale of force (N) by multiplying with the mean of all forces at ... System. 2002: USA. p. 344-351.  K .V. Hansen, et al.,? ?Modelling? ?of? ?interaction between? ?a? ?spatula? ?and? ?a? ?human brain.  Medical Image Analysis, 2004 8: p. 23‐33.  T. Chanthasopeephan,  J.P. Desai,  and? ? A. C. Lau,  Measuring forces

Ngày tải lên: 16/10/2015, 15:36

... Regulator (LQR) and Linear-Quadratic-Gaussian (LQG) control In addition, disturbance rejection, actuator saturation, and the influence of heat recycle and measurement noise are also taken ... (CFD) software which is used for simulation, visualization, and analysis of fluid flow, heat and mass transfer, and chemical reactions GAMBIT is a preprocessor for the CFD analysis... ... PID control, state feedback control, LQR and LQG In addition, disturbance rejection, actuator saturation, and the influence of heat recycle and measurement noise are also taken into consideration

Ngày tải lên: 26/11/2015, 12:31

... as a Graduate Research Assistant at The Automation and Robotics Research Institute In 1991, he was a Visiting Research Assistant at the Universidad de Valladolid, Spain At present, he is an Associate ... 1996, March 17, 1996, and April 11, 1998 This work was performed when the first author was a Graduate Research Assistant at ARRI and a Fulbright scholar at the University of Texas at Arlington ... constraints: Application to dynamic control of mobile robots,” Int J Robot Res., vol 13, no 1, pp 55–69, 1994 [21] Y Yamamoto and X Yun, “Coordinating locomotion and manipulation of a mobile manipulator,”

Ngày tải lên: 29/03/2023, 10:32

... & b[2]>B & b[3]>B & b[4]>B] [b[1]<=B & b[2]<=B | a& gt ;A] [b[3]<=B & b[4]<=B | a& gt ;A] [b[1]>B & b[2]>B & b[3]>B & b[4]>B] [eta>=1.5*E] β i π 2 − ... 0 vehicle_v7/Automaton Printed 17−Jan−2003 12:59:12 Driving Rest Q0 Q1 Q2 Q3 Q4 [(b[3]>=B | b[4]>=B) & b[1]<=B & b[2]<=B] [eta<0.9*E] [(b[1]>=B | b[2]>=B) & b[3]<=B & ... (A 1 − B 1 K 1 )x 1 0 t → ∞ K 1 A 1 − B 1 K 1 β c = [β 3 β 4 ] ˙x 2 = (A 2 − B 2 K 2 )x 2 ˙ θ = 0 x 3 = Tχ =  ξ ref − ξ ˙ ξ ref − ˙ ξ  , T ˙x 3 = A 3 x 3 + B 3  ν 0  , A 3 =  0 I A 31 A 32  ,...

Ngày tải lên: 22/03/2014, 11:20

... where all parameters, processes and variables are modelled mathematically. Furthermore, the MATLAB program can convert a MATLAB design into a C-code design in a relatively straightforward manner. ... cage induction motor” and the “wound motor”. An explanation of the advantages and disadvantages of each is given. Essential concepts such as “synchronous speed”, “slip”, “torque” and the rated ... the MATLAB analysis, we get an adequate transient response from this. Also, the transient response does not feature rapid, sharp transients of any kind. It seems to be a reliable and safe option....

Ngày tải lên: 27/10/2013, 23:15

... REPRESENTATIVES John B. Bass, Jr., M.D. American Thoracic Society University of South Alabama Mobile, AL Nancy E. Dunlap, M.D. American College of Chest Physicians University of Alabama at Birmingham Birmingham, ... effectiveness of mass neonatal BCG vaccination among Canadian Indians. Am J Public Health 1986;76:783–6. 38. Shapiro C, Cook N, Evans D, et al. A case -control study of BCG and childhood tuberculosis in Cali, ... management of BCG adenitis are variable (i.e., the recommended management ranges from no treatment to treatments such as surgical drainage, administration of anti-TB drugs, or a combi- nation of...

Ngày tải lên: 15/02/2014, 13:20