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Sliding mode control of manipulators using first-order equations of motion with diagonal mass matrix
Przemys?aw Herman 《Journal of The Franklin Institute》2005,342(4):353-363
This paper presents a proposition of a sliding mode controller for a rigid manipulator expressed in terms of the generalized velocity components (GVC) vector. Introduction of GVC (Trans. ASME J. Appl. Mech. 62 (1995) 216) together with generalized positions leads to two first-order decoupled equations of motion instead of a single second-order equation. It is shown that the new controller, stable in the sense of Lyapunov, has different properties and can, according to Slotine and Li (Int. J. Robotics Res. 6 (1987) 49), give better performance than the classical sliding mode controller. Both control algorithms were tested on a 3 d.o.f., 3-D Yasukawa-like robot. 相似文献
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侯肖霞 《科技成果管理与研究》2008,(5):12-14
顺序控制程序设计的方法很多,如逻辑设计法编程、工程设计法编程、功能表图设计法编程等,每种编程方法有其自身的特点和使用范围。不仅如此,巧妙利用PLC的指令,也能解决顺序控制的问题。 相似文献
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Li Xiufeng 《五邑大学学报(社会科学版)》1989,(Z1)
The problem of modeling one-link flexible manipulators is considered.The dynamic model is derived from an inhomogeneouo fourth-order partial differential equation under the zero boundary conditions. The correspondence between the values of the poles of the transfer function and the values of the natural frequencies shows that the modeling is reasonable. To manipulate the cumbersome formulae the REDUCE language has been extensively used.##属性不符 相似文献
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本文对柔性化在汽车焊装生产线的应用进行了阐述,并分析了柔性化与现有生产线的相对优缺点及人工工序对汽车焊装的优缺点,提出柔性化生产线应该是未来我国汽车生产线设计及许多工业企业的发展方向。 相似文献
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机械手是在机械化、自动化生产过程中发展起来的一种新型装置。它可在空间抓、放、搬运物体等，动作灵活多样，广泛应用在工业生产和其他领域内。应用PLC控制机械手能实现各种规定的工序动作，不仅可以提高产品的质量与产量，而且对保障人身安全，改善劳动环境，减轻劳动强度，提高劳动生产率，节约原材料消耗以及降低生产成本，有着十分重要的意义。本文以欧姆龙公司的CPMIA为基础，介绍PLC在机械手搬运控制中的应用，并给出了详细的PLC程序设计过程。该程序已在工业机械手中获得了广泛应用，具有稳定、可靠的性能。 相似文献
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Przemys?aw Herman 《Journal of The Franklin Institute》2005,342(1):25-38
In this paper a proposition of inverse dynamics control for a manipulator using the unnormalized quasi-velocities (UQV) is presented. These quasi-velocities introduced by Jain and Rodriguez (IEEE Trans. Robotics Automat,16, 2000, 517; 11, 1995, 571) are used here to show some performance obtained from the controller. It is shown that for a two d.o.f. planar manipulator one can assume UQV which are integrable with respect to time. The introduced controller in terms of UQV is exponentially convergent. As a consequence of using UQV inverse dynamics control, one can notice some interesting properties in comparison with the classical controller. Additionally, some geometrical interpretation based on Riemannian geometry is given. 相似文献
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本文详细地阐述了笔者在机电专业《PLC技术应用》课程中利用基本指令和步进指令对机械手控制采用的项目教学法,在教学中弱化了对IST功能指令的学习,使得中职学生能快速的理解简易机械手的手动、回原点和自动操作的动作,并掌握三种模式的程序设计,从而提高学生PLC技术应用能力,以适应现代社会岗位要求。 相似文献
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