Papers by Keyword: Trajectory Control

Abstract: In order to raising the accuracy class, reduction procedure, give up interpolate calculation, it is presented a physical law control method to substitute position control way. Assuming working in ideal condition, a physical motion model of CNC machine tool is built. The relation between geometric parameters, motion parameters and planning parameters is studied with kinematics principle and geometric principle. The motion differential equations are worked out, calculating the equations with trajectory function and planning parameters, the transient motion parameters of coordinate axes can be gotten. In other words, the physical law can be found out. The numbers of trajectory point are infinity, the regularity, however, is one only. Therefore, the control method by physical law is a short-cut and all-sided method. It is proved by experiment and simulation that it is more simple and more comprehensive way.

Abstract: The design aim to make the museum robot move according to desired trajectory. Having a commentary robot in museum can not only arouse visitor’s curiosity, but also save human resource. Furthermore, this robot can change and upgrade its software system according to museum action situation to accomplish different trajectory in different space. The machine vision tracked method is applied to museum robot, which mainly use camera to seek the marked object in proper order and accomplish designed trajectory movement.

Abstract: For the large number of sampling points and high requirement of stabilization in ultrasonic testing,the dynamic performance of 5-dof manipulator was taken into consider: Firstly, the D-H notation and Newton-Euler were applied to set up the kinematic and dynamic equation for trajectory planning. Then the 4-3-4 polynomial which is continuous in displacement, velocity and acceleration, was used for continuous trajectory planning in joints space. Finally the trajectory based on time optimization with the constraint of velocity and acceleration including torque of actuator was validated.

Abstract: In order to deal with the model uncertainties of ROV (remotely operated vehicles) caused by current disturbances, umbilical cable and robotic manipulators, an adaptive backstepping controller and an adaptive PD controller are applied to control the ROV. The adaptive backstepping controller is used to control the horizontal motion, and the adaptive PD controller is applied to control the Vertical motion. Finally, the method is verified effective by the computer simulation.

Abstract: Three-axis processing of laser inner engraving machine control system can carry on multi-axis linkage control. Furthermore, it ensures multi-axis of high feeding speed and trajectory control of high precision. This article introduces the design of laser inner engraving machine movement control system. The core is a digital integrator of linear interpolation algorithm to generate the desired trajectory and control XYZ axis linkage. Wide speed range of servo motor and position detector resolution is adequate to constitute a half-closed loop drive. With integral separation algorithm being introduced in the controller, the speed of numerical control system, track speed and positioning accuracy are guaranteed in order to achieve optimal specification for dynamic and static characteristics of the whole system.

Abstract: With the depletion of shallow-layer oil and gas pools inLiaohe oilfield, buried hill stratigraphic reservoirs in Liaohe oil field are becoming main objectives for exploration in recent years, especially in high-risk areas of Xinglongtai deep the Hing ancient buried hill resources are particularly rich. Since 2007, Liaohe oilfield increased investment for Buried Hill reservoirs with deep horizontal drilling developt the buried hill reservoir. Liaohe has completed 36 deep horizontal, with a total footage of 183920m, the average depth of 5109m. Improving drilling speed of "buried hill deep horizontal and branch horizontal wells”, and reducing drilling costs are of great urgency. “Hing buried hill deep horizontal, horizontal wells,” with composite drilling technology, supporting the optimization of PDC bits, the high-pressure jet drilling, the MWD borehole trajectory control and optimization of drilling parameters, the new drilling fluid technology and so on. With a large number of horizontal wells put into Buried Hill stratigraphic reservoirs, oil and gas production of average deep horizontal well increase of 2-5 times. Besides, the previous recovery and production of oil and gas reservoirs significantly improved to create an objective economic and social benefits.

Abstract: A new method for controlling the steering and trajectory of the electric mobile robot is proposed. In order to control the robot’s position and heading, the path error and the heading error of the robot are taken into the control closed loop. On the basis of the self-adaptive PID control method combined with preview theory and fuzzy logic, a trajectory tracking control system is designed. Finally, experiments and simulation are conducted to test the control system. Both experimental and simulation results show that the mobile robot can approach the target trajectory quickly and then move along it, which confirm the validity and the efficiency of the trajectory tracking control system.

Abstract: Uniform molten metal droplet stream from jet break-up provides potential technology for metal parts rapid prototype manufacturing. In this study an experimental device capable of producing uniform metal droplet stream has been developed. Monosize spherical powders of 180m in diameter can be obtained after cooling and solidification. Then the droplets were electrostatically charged and deflected during flight to deposit onto a revolving substrate to form a 3D metal part.

Abstract: A robust trajectory control problem for an underactuated AUV with parameter uncertainties and external disturbances was considered. The trajectory control was decomposed in the horizontal plane and vertical plane. Based on the robust theory, the AUV model for heading control was proposed, and the heading controller was designed. The simulated results show that the method can effectively overcome disturbances of constant ocean currents to ensure the precision track.

Abstract: A lot of studies have been conducted and published on how to control the wheeled mobile robot to reach the desired target smoothly and many simulation results have been presented. However, very few of the control theorems have been applied on a real mobile robot platform to test the feasibility. This paper focuses on the experimental validation by applying the kinematic model and the control law suggested by Siegwart et al [6] on a nonholonomic wheeled mobile robot. The omni-directional camera mounted on ceiling is used to capture the initial position of robot and monitor the trajectory. Our experiment results proved with the proposed control law, the mobile robot can reach the final goal and stop.