Papers by Keyword: Motion Control

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Authors: Hong Li Zhu, Jian Xiang
Abstract: In this paper, we project the body motion to a lower-dimensional subspace with the dimensionality deduction method to get the inner structure of motion. The lower dimension non-linear projection in the subspace with the ISOMAP manifold learning method successfully construct the motion time model and form the new motion style. Experiment results show that the approaches are effective to process 3D human motion
Authors: Yi Long Wang, Xiao Guang Wang, Qi Lin
Abstract: As to a 6-DOF wire-driven parallel manipulator in the application of virtual flight experiment of wind tunnel, the high precision motion control of supported aircraft model has been researched. First, the integrated dynamic model of the system has been established, and a proportional and differential controller has been designed on the base of position feedback. Finally, the numerical simulation of motion control system has been done in the example of 6-DOF motion. The analysis result shows that the high precision motion control can be achieved by PD control law for aircraft model, and the system stability could be improved by selecting wire tension coefficient properly, which can provide theoretical reference and support for virtual flight experiment of complex model and has great practical application value.
Authors: Huan Bing Gao, Shou Yin Lu, Tao Wang
Abstract: This paper presents the scheme of a physiotherapy service robot including the mechanical architecture, control system, visual position system, etc. The robot can treat degenerative disease and chronic disease of middle-aged and aged people by Chinese massage skill, the main body of which includes a massage adjustable bed, two 4-DOF robot arms and two massage hands that can accomplish various massage manipulations. Two arms cooperate to improve the massage efficiency, and provide sufficient strength and enough reachable workspace for massage. The manipulators are controlled by a TRIO multi-axes motion controller and a embedded computer module. Physiological signal and massage pressure is detecting in real time in massage process to ensure a scientific and safe therapy. Vision System sends the recognized acupoint position to the master system to track the patients body, and the acupoint being massaged is displayed in real time by the 3D virtual display model. The robot can execute ten massage manipulations, which make traditional Chinese massage can have a robot instead. The effectiveness for degenerative lumbago in middle-aged and aged is demonstrated by laboratory examination and clinical trial.
Authors: Lei Zhang, Zhuo Wang, Jin Xin Zhao, Ying Liu
Abstract: Both the high speed and the changing excess buoyancy can make it difficult in motion control of AUV, in order to solve the problems, an improved control method based on S-surface control is proposed. Taking static forces and coupling effects between longitude velocity and other dimensions into account, the compensation related to the speed is brought into the method to handle the effects caused by high speed. In accordance with the thoughts of S-surface control, an anti-windup intelligent integral method is presented to handle the changing excess buoyancy and propulsion loss via an adaptive weight determined by estimating the motion states of AUV. Finally, experiments of velocity control, yaw control and depth control are conducted, and the results prove the feasibility and advantages in application to AUV motion control.
Authors: Bao Shan You, Kai Feng Liu, Feng Lian Zeng, Li Ying Pei
Abstract: The new generation of Field Programmable Gate Array (FPGA) technology enables to embed a processor to construct a System on a Programmable Chip( SoPC). A stepper motion control IC for X-Y table using SoPC technology is proposed in this thesis. The proposed motion control IC contains two modules. One module performs the functions of schedule and logic control. Due to the need of complicated control algorithm, it is implemented by software using Nios II embedded processor. The other module performs the functions of interpolation, acceleration and deceleration. Due to the need of high performance, this module is implemented by Programmable Logic Device (PLD) in FPGA. The use of SoPC technology can make the motion control IC of X-Y table more compact, high performance and low cost .
Authors: Shu Qin Li, Da Lin, Xiao Hua Yuan
Abstract: Robotic fish is a multivariate and nonlinear controlled object, its work environment is complicated, these lead the motion controlling of robot fish be very difficult. This paper provides a method of robotic fish controlling based on BP neural network, and on URWPGSim2D simulation platform. Using the relative position of the fish robot, the ball and the target point in current cycle, this method can compute the two controlling value of robotic fish, which are the velocity and angular velocity, in the next cycle. The experiments show that this method can efficiently reduce the error that comes from the platform randomness, and robotic fish can run smoothly according to the predefined moving route.
Authors: Jian Bin Wang, Yi Min Yang, Jing Li
Abstract: A minimum-energy consumption control algorithm is applied to motion control of a four-wheel drive omni-directional mobile robot (FDOMR) in actual application environment. After establishing the robot’s dynamic equations with motor model, we have chosen a practical cost function as the total energy drawn from the batteries. Considering the translation and rotation, we have found out the velocity curve by optimal control theory. Various simulations are performed and the consumed energy is compared to the normal control method that without minimum energy consumption control. Simulation results reveal that the energy saving is much more compared to the traditional control, the operational time of the FDOMR with given batteries is lengthened and the efficiency of battery is improved.
Authors: Hao Tian Cui, Wang Yang, Qing Qing Li, Yue Qing Yu, Li Zheng Ma, Yu Mo Wang
Abstract: A new type of three-legged robot design scheme is proposed and the movement control of it is studied in this paper. Spatial crank rocker mechanism (RSSR) is used to will the motor rotation into a leg swinging in mechanical design. Advanced reduced instruction-set computer machines (ARM) chip, wireless communication module and magnetic encoder are used in controller design. Proportional and differential (PD) closed loop control arithmetic is used to realize the control of the robot. The robot realizes the movement of straight walk, curve walk, turning in situ, jumping and so on. It has a broad application prospect.
Authors: Yuan Yuan Liu, Qing Wei Li, Qing Xi Hu, Chang Juan Jing, Qiang Gao Wang
Abstract: Electrospinning is an advanced manufacturing technology combined with machinery, automatic control and computing technology, it is popular used in numbers of fields and has appealed the attention of a great many scholars in and aboard, and its controllable ability has become the fuscous point. In order to make seize of the fiber diameter and realize the collection aligned, this paper designed a new device basing on the analysis of the influence elements during the electrospinning experiment in the direction of process control to achieve effectively organization on these parameters. What’s more, the writer showed not only the mechanical structure, but also the corresponding system design, focusing on the plan of coordination multi-axis motion with movement control CARDS. After all, this device is able to complete the effective coordination of spray distance and the target velocity, and improves the manage ability of the whole device operation.
Authors: Xin Zhong Ding, Cheng Rui Zhang, Le Hua Yu, Hu Xiu Li
Abstract: This paper presents a new permanent magnet synchronous motor (PMSM) drive technique using adaptive state estimator for high-performance motion control to estimate the instantaneous speed, position and disturbance load torque. In the proposed algorithm, the model reference adaptive control (MRAC) method is incorporated to identify the variations of inertia moment, and the identified inertia is used to adapt the extended Kalman filter (EKF), which is an optimal state estimator to provide good estimation performance for the rotor speed, rotor position and disturbance torque with low precision quadrature encoder in a random noisy environment. In addition, the disturbance–rejection ability and the robustness to variations of the mechanical parameters are discussed and it is verified that the system is robust to the modeling error and system noise. Simulation and experimental results confirm the validity of the proposed estimation technique.
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