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H. Sadjadi 《Journal of The Franklin Institute》2011,348(1):112-124
This paper outlines the development of a robotic system designed to clean the outer surface of elliptic tapered structures such as Dubai airport concourse. The designed system consists of two identical cleaning satellites connected to a main unit and provides cleaning coverage up to 83° tilt from the horizontal surface of the concourse. The controller design, sensors, localization, and employed communication techniques are presented in this paper along with the final results of the implemented prototype. The system features redundant locomotion to ensure safe and reliable operation while maintaining autonomy and flexibility. 相似文献
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We outline problems and potential solutions for feasible human-machine interfaces using cable-based parallel manipulators for physiotherapy applications. From an engineering perspective, we discuss the design constraints related to acceptance by patients and physiotherapist users. To date, most designs have focused on mobile platforms that are designed to be operated as an end-effector connected to human limbs for direct patient interaction. Some specific examples are illustrated from the authors＇ experience with prototypes available at Laboratory of Robotics and Mechatronics （LARM）, Italy. 相似文献
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The problem of independent force and position control of multitask cooperating manipulators is studied. Each manipulator is in a non-singular configuration and the object can be driven by the contact forces exerted by the end effectors of the manipulators. The design requirement is to control each coordinate of the position of the object as well as each component of the “rest” forces, except the moving forces that are determined uniquely from the object's position. The present design requirement has been proved to be always satisfied together with asymptotic and BIBO stability. A class of controllers solving the above simultaneous problem is analytically determined. The proposed state feedback controller does not depend upon the specific object dynamics and thus the resulting closed-loop multimanipulator system performs as required, not only when handling various objects but also when the dynamics of the objects are unknown or hard to compute or disturbed by external forces. 相似文献
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超冗余度机械手自律分散控制算法 总被引：1，自引：0，他引：1
介绍了一种超冗余度机械手的控制算法,它采用自律分散控制方法来指导冗余度机械手末端执行器的运动,实现做功最小,从而避免采用需复杂计算的求逆解的方法,大大简化了机械手的算法和控制,具有高度的鲁棒性和容错性.,The control method of highly redundant robot manipulators is introduced. A decentralized autonomous control scheme is used to guide the movement of robot manipulators so that the work done by manipulators is minimized. The method of computing pseudoinverse which needs too many complicated calculation can be avoided. Then the calculation and control of robots are simplified. At the same time system robustness/fault tolerance is achieved. 相似文献
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A common approach to Lyapunov's stability control is to design a controller such that a Lyapunov function can be derived for the control system to ensure stability. This procedure often leads to a discontinuous controller. When the controller is implemented, the discontinuous terms are replaced with continuous functions to avoid chattering of the control signal. Two associated problems have been overlooked during this procedure. One is that discontinuous control systems are non-smooth, which violates the fundamental assumptions of solution theories and the applicability of Lyapunov's stability theory is questionable. Another problem is that the replacement of discontinuous terms may weaken stability, which can be critical. In this paper, we discuss proper stability analysis of discontinuous control systems using the extended Lyapunov's second method based on Filippov's solution concept for non-smooth systems. We further propose to utilize the concept of Lyapunov exponents to quantitatively analyze the stability of continuous control systems obtained by replacing the discontinuous terms in the discontinuous controllers. An example involving the stabilization of a two-link non-fixed-base robotic manipulator is presented for demonstration. This research fills the gap in designing continuous Lyapunov's stability controllers regarding limited available Lyapunov functions. 相似文献
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CHEN Hua CHEN Wei-shan XIE Tao 《浙江大学学报(A卷英文版)》2006,7(4):525-529
INTRODUCTION The inverse kinematics problem (IKP) for a ro- botic manipulator involves obtaining the required manipulator joint values for a given desired end-point position and orientation. It is usually complex due to lack of a unique solution and closed-form direct ex- pression for the inverse kinematics mapping. The forward kinematics problem (FKP) is to find the po- sition and orientation of the end-effector based on given joint values which can be easily obtained by analyzing the … 相似文献
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By using a phase-plane analysis method,the minimum-time trajectory plan-ning problem of a manipulator moving along a given geometric path subject to the con-straints of joint velocities and accelerations is solved in this paper.The simulation resultfor the first three joints of PUMA-560 is given. 相似文献
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Manipulating flexible objects stirs a great deal of interest due to the potential applications in industry. Most previous research work with multiple manipulators, however, focused on developing control strategies for the manipulation of rigid bodies. This paper seeks to develop simple yet practical and efficient control scheme that enables cooperating arms to handle a flexible beam. Specifically the problem studied herein is that of two arms rigidly grasping a flexible beam and capable of generating forces/moments in such a way as to move a flexible beam along a predefined trajectory. The paper develops a sliding mode control law that provides robustness against model imperfection and uncertainty. It also provides an implicit stability proof. Given the bounds of uncertainty in the model of the flexible beam and choosing a switching surface that enforces trajectory tracking, a control algorithm is designed to push the states to remain on the switching surface. Simulation results for two three joint arms moving a flexible beam are presented to validate the theoretical results. 相似文献
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