Applied Mechanics and Materials Vols. 220-223

Abstract: Abstract: Due to the function expansion of the robot with hand-foot-integration, the robot’s frame which is a original common motion platform turns to a mechanical grab platform with floating. The workspace calculation of the robot’s working arm is the prerequisite for the robot starting to grab the aim. In this paper, the calculation system of the robot’s workspace on fixed pose is introduced. The calculation of the robot’s total centroid position is described, the stability of the robot is analyzed and the relationship between the workspace of robot and the stability criterion is discussed. The calculation process of the workspace is given and a numerical example is illustrated. The System can be used for motion control of robot and provide the theory basis for realization of automatic grab.

Abstract: Calculation of large rigid body pose and its high precision control was studied in the paper. Aiming at the 6-DOF large rigid body pose control system, a fast calculation approach to the pose and a high precision multi-axis coordinating control system was presented. Firstly, based on a global frame and a body-fixed frame system, which were established on the basic platform and the center of the large rigid body respectively, a mathematic model of large rigid body kinematics is formulated. By detecting the started positions and final positions of four marks on the large rigid body, we can calculate the displacement increments of three coordinates of the four supports. The simulation results show that the proposed approach is rapid and effective. Secondly, a compensation technology of synchronization error integral was proposed for the large rigid body pose control system. By the technology, the precision and speed of large rigid body posing can be significantly improved; and so it has guiding significance for engineering application.

Abstract: Three-tank water level system has the characteristics of nonlinear, large time delay, time-varying parameters, and the system is broadly representative in the research of non-linear and inertial process control. For the controlled object’s strong-nonlinear characteristic when the liquid level given value changes, a multi-model predictive PID cascade control strategy was presented to improve response performance of the control system. On the basis of analyzing the dynamic characteristics of the object, multiple sub-model of the object was established, and a global approximate model of the complex object was obtained as the predictive model by the weighted sub-model. Owing to the rapid response characteristic of PID control, we built the predictive control PID cascade control system by combining PID algorithm with predictive control. The experiment results show that the control algorithm can achieve good tracking control, and greatly improve dynamic and static performance of the system.

Abstract: This paper presents a novel method to control a robot arm based on the human skeletal information. First, the depth data is obtained by using a Kinect device. Skeletal tracking technology is used to deal with the depth data to match the various parts of the body and the 3D coordinates of each joint of the body are established. Then, the 3D coordinates are proposed to calculate the rotation angle of the human waist, shoulder, elbow and wrist joints. These four joints of the body are one-to-one correspondence with the four joints of 4-DOF robot arm. Finally, a transformation is conducted to map the calculation results into control commands, and the control commands are sent to the controller of robot arm by serial ports to achieve body feeling interaction. The experimental results show that the method can effectively control the robot arm to rotate and grab objects.

Abstract: As the parameters of traditional PID are fixed, the application areas are limited. With its research focus on the servo control system of the three-axis flight motion simulator table and the mathematical model of the brushless DC motor which is used as the drive mechanisms of the heading turntable. Put forward the traditional PID control arithmetic and NN PID control way arithmetic based on model forecast. MATLAB simulation is conducted to test stepping and sine input signals. The test results show that NN PID control way arithmetic is better than traditional PID control arithmetic and it is important to enhance the efficiency of flying simulator contro1．

Abstract: In this paper, controlling the motion of mass center of robot by different motion laws is discussed to reduce motor’s drive power of robot joint. Firstly, correlation theory is described; obtain that if the (AV) value of motion parameter of robot’ mass center is smaller; the torque of drive motor which needs to drive robot is smaller under the same conditions. Then, in the process of robot ZQROT-I running the straight gait, two typical motion laws are used to control mass motion of robot; motion performance of the robot is analyzed with Adams. Analysis result indicates that control mass motion of robot by the use of motion laws with small (AV) value has certain effect in saving working energy of robot.

Abstract: Traditional developments of intelligent terminal system could control only one robot and most were based on WinCE platform, which have poor versatility and expansibility. The robot hand intelligent terminal system proposed by this paper was an embedded equipment based on AT91 series chip. It had good human-machine interface with Linux system and Qt4 as software support. It adopted touch-screen technology and I2C keyboard as input device. It had two kinds of programming method, manual teaching-programming and off-line programming. The test shows that its volume is small and its weight is light to easy to operate robot handily.

Abstract: Visual servo control is one of the central issues in the research field of intelligent robot. In order to obtain more effective information from the environment, visual sensor is used in robot control. This paper mainly studies the application of intelligent algorithm in visual controller. Through the simulation comparison between Single neuron PID and Fuzzy adaptive PID which are introduced to IBVS, we can find that the proposed method could get better effect in convergence and fast performance.

Abstract: Multi-scroll chaotic attractors synchronization technique is a research focuses in recent years. This paper focuses on multi-scroll chaotic attractors in the four-dimensional system. It uses variable feedback synchronous method and active-passive synchronous method to achieve the two 6-scroll chaotic attractors’ synchronization. The feasibility of this method is proved by theoretical analysis and numerical simulation. Simultaneously, it gets a better synchronization results.

Abstract: Studying on PID control algorithm and through the analysis of the control parameter of scalar part, integration part and derivation part, the author investigates systematically on the motion control system of the intelligent robots in small storage and logistics, and presents an improved PID control algorithm. The improved PID control algorithm not only maintains the merits of the original one, but also simplifies the multifarious adjustment process of the control parameters of scalar part, integration part and derivation part. The improved algorithm turns out to be effective after the simulation and verification by the MATLAB and can be applied and promoted to other practical controls field.