检索结果-南通市图书馆

第37届中国控制会议

作者： Qidan Zhu Xinru Xie Chao Li Guihua Xia College of Automation Harbin Engineering University

This paper presents an adaptive impedance control method based on Kalman filter to write Chinese characters for industrial manipulator. Kalman filter is used to estimate the actual contact force. For safety, the contact force is controlled to maintain constant using the adaptive impedance control method. There is no need for the knowledge of the environment. A robot Chinese characters writing system is designed to write characters on a stiff board. The writing experiment results verified the performance of the proposed method, and the trajectory and force can be tracked simultaneously.

关键词： characters writing adaptive impedance control Kalman filter industrial manipulator

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

Trajectory Tracking Control of industrial manipulator Using Adaptive Type-2 Fuzzy Sliding Mode Controller

Trajectory Tracking Control of Industrial Manipulator Using ...

引用

第三十九届中国控制会议

作者： Xingyu Wang Anna Wang Xinghua Wang Dazhi Wang College of Information Science and Engineering Northeastern University School of Humanities and Law Northeastern University

The industrial manipulator is a non-linear, strongly coupled, time-varying system, and it is affected by various uncertain factors such as unmodeled dynamics, parameter changes, external disturbances, and friction. These uncertain factors will cause the tracking accuracy of the joints of the manipulator to deteriorate, which will lead to the instability of the entire manipulator system. Therefore, it is of great significance to achieve improved trajectory tracking precision of the manipulator and make the robotic arm have good dynamic performance. A new controller is designed in this paper. The controller uses a low-pass filter to reduce the chattering signal in the sliding mode control. Then, the type-2 fuzzy control is designed to simulate the external disturbance signal and the dynamic uncertain signal, so that the controller can effectively suppress the chattering caused by the sliding mode control algorithm, improve the robustness of the industrial manipulator control system, and effectively realize the high-precision track tracking control of the manipulator.

关键词： industrial manipulator adaptive sliding mode controller type-2 fuzzy control trajectory tracking

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

Parameter estimation survey for multi-joint robot dynamic calibration case study

引用

Science China(Information Sciences) 2019年第10期62卷 102-116页

作者： Shaolin ZHANG Shuo WANG Fengshui JING Min TAN The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology

Accurate model parameters are the basis of robot dynamics. Many linear and nonlinear models have been proposed to calibrate the inertial parameters and friction parameters of multi-joint ***, methods of choosing a model and calculating its parameters still have few summaries. This paper reviews typical linear/nonlinear models and different calculation methods for robot dynamic *** simulations, the features of different methods are analyzed, including torque error, parameter error, model adaptability, solution time, and anti-interference ability of the calibration results. Finally, an experiment performed on a six-degree-of-freedom industrial manipulator is used as an example to illustrate how to select the model for a specified robot. These comparisons and experiments provide references for the parameter calibration of multi-joint robots.

关键词： dynamic parameter calibration friction calibration robot dynamics industrial manipulator dynamic models

来源：

同方期刊数据库评论

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

On Path Generation Method for Laser Cleaning Robot Based on Line Structured Light

On Path Generation Method for Laser Cleaning Robot Based on ...

引用

第三十九届中国控制会议

作者： Qingzeng Ma Dongbin Zhang Shuo Jin Yuan Ren Wei Cheng Yanlei Li Laser Institute Qilu University of Technology（Shandong Academy of Sciences）

Surface cleaning has always been an important procedure to improve quality and performance of final components in modern industrial manufacturing. Among various surface cleanings, laser cleaning has been identified as the most promising green cleaning technology to replace conventional mechanical and chemical cleaning. Laser cleaning is a green cleaning technology that will not result in environmental pollution. And, laser cleaning is a versatile, precise, and controllable technology. A set of laser cleaning system that consists of line structured light and industrial manipulator, was designed in this paper. The line structured light, combined with camera, was used to scan workpiece surface and reconstruct the 3D model of workpiece surface. The industrial manipulator was utilized to perform scanning and cleaning movements. This new system is called Laser Cleaning Robot（LCR）. To improve automation level and cleaning efficiency of the LCR, a path generation method based on line structured light and industrial manipulator was proposed in this paper. Experimental results demonstrate the performance of the proposed method in terms of cleaning efficiency for large-scale workpiece.

关键词： Laser Cleaning industrial manipulator Path Generation Line Structured Light

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：