Applied Mechanics and Materials Vols. 373-375

Abstract: In this paper, preliminary effort of pre-flight test lateral control method study is presented. Parameters and coefficients of candidate UAV (Unmanned Aviation Vehicle) are calculated for modeling and linearization. For controller design, dynamic inversion is used to cancel the dynamic coupling between attitudes. Stability of inversion loop controller which applied on non-ideal inversion is studied. Finally, simulation is present to compare the PI and nonlinear PI controller based on dynamic inversion.

Abstract: This paper is concerned with the analysis of human behavior in teleoperation system. A teleoperation experimental system is developed in this paper. The stability of the inverted pendulum is controled by joystick. The Laminar Phase and power spectrum is adopted to analyse human behavior characteristics. The experiment results show that human is adaptive to the disturbance in the teleoperation system.

Abstract: The start and speed control problems of motor were analyzed in port machinery, the advantages of frequency conversion and fluid viscous start were synthesized, the speeder based on frequency conversion and fluid viscous soft start was designed. The start of motor can be protected by fluid viscous soft start, especially in the stationary start under the load. The motor can be realized infinite speed control by frequency conversion device, the use safety of motor is protected and the work efficiency is enhanced, then the aim of energy saving is realized.

Abstract: A new design for settlement of take-off angle and steer mechanism for combustion piston type hopping robot is presented. The new hopping robot body is fabricated that can easily be loaded with new eras technology instruments to sense the environment and provide environmental information. The mechanisms are very simple which increase the mobility of hopping robot to overcome the challenges during traveling rough terrains. Hopping robot has an algorithm to get distance & obstacle height with help of sensors and settles the take-off angle to overcome desired distance and hop over obstacle efficiently and accurately. The designed structure provides protection to whole system, sensitive sensors and has the ability to absorb jerks & shocks which occurred during hopping and landing.

Abstract: The wheeled robot with non-integrity constraints is a typical nonlinear system, in order to achieve the ideal path tracing, presented a theory based on fuzzy neural network control. Centralized compensation system based on neural network uncertainty can be arbitrary-precision approximation of continuous nonlinear functions as well as the complex uncertainties with adaptive and learning ability. By MATLAB simulation showed that the control method to ensure fast convergence and error robustness of parameter uncertainties and external disturbance.

Abstract: In order to compute the redundancy-resolution for robots with multi-constraints, an approximate method based on weighted least-norm principle is presented. With this method, different constraints is assigned with corresponding coefficients, and the cost function is given out and optimized for the best between the accuracy and the fulfillment of the constraint, which is based on the weighted least-norm of each constraints and the main task. Firstly, the state of the art of redundant resolution is introduced in brief and the drawback with the application to the resolution with multi-constraints is pointed out. Then the redundancy resolution at velocity level and position level, and the modeling of the constraints are proposed. In view of this, the weighted least-norm method is presented. Finally, the effectiveness of the proposed method is demonstrated by simulations of a six-DoFs biped walking robot Bibot-U6 with the stability constraint and joint limits constraints. The result shows that the method has an excellent robustness for the under-determined system and over-determined system, meanwhile has a good accuracy.

Abstract: Underactuated manipulator is one kind of second order nonholonomic dynamics systems. How to control this system is still an open problem. This paper proposes a fuzzy strategy to control three DOF underactuated manipulator with a last passive joint. Four measures are selected to construct the fuzzy logic controller. The four measures are divided into two classes; one class is concerning first link, another class concerning the second link. Four fuzzy logic processors are designed to deal with the measure errors, respectively. The four fuzzy logic processors are also divided into two classes according to the two measure classes. Then, the processed results from the four processors are composed to produce control signs to compensate the errors occurring in the manipulator motion. This method simplifies the design of the fuzzy logic controller. Finally, numerical simulation verifies the fuzzy controller.

Abstract: Path planning for mobile robot with blind zone is a difficult and practical problem. To decrease the influence of blind zone. The path planning approach in this paper has introduced entry point to represent the free road which may guide the robot to find the gaps between obstacles. By estimating the entry point in blind zone and estimating the probability it exist there using uncented kalman filter, the historical sensor information is used. All entry points are then evaluated using a evaluate function. So that both the current sensor information and the historical sensor information are used. Compared with the traditional local path planning approaches, this approach avoid the trap problem and the hover problem came with the blind zone. Simulation has proved the effect.

Abstract: Based on the importance of the robot for the elderly and the disabled, a quadruped walking robot using 3-RPS parallel mechanism as the basic leg mechanism is proposed. The structure of the basic leg is described, and the whole structure of the quadruped walking robot is formed. Then taking the workspace of the basic leg as the standard, the optimum size parameters of the upper platform and the lower platform of the based leg are achieved. Meanwhile the workspace of the basic leg is obtained by the anti-solution search method. Taking the basic leg as analysis object and applying the virtual organization method, the kinematic expression is got. All of these analyses lay a theoretical foundation for the further study on the quadruped walking robot with parallel leg mechanism.

Abstract: A dynamic simulation system whose model objects were industrial robot was designed. An advanced and quickly inverse kinematic algorithm was used to solve inverse kinematic equation for 6DOF industrial robot, the time of solve was improved. The method of trajectory planning was developed. The vision simulation for industrial robot was completed by Creator and Vega software. Simulation result shows that the requirement of kinematic control has been achieved and provides an intuitive and convenient tool for research of the kinematic control algorithm for industrial robot.