| Human simulating intelligent control and its application to swinging-up of cart-pendulum |
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Authors£ºZushu Li Qingchun Chen Xuemei Li Inooka, H.
Source: 6th IEEE International Workshop on Robot and Human Communication, 1997. RO-MAN '97. Proceedings, page(s): 218-223
Abstract: On the basis of the human simulating intelligent control (HSIC) proposed by the author this paper discusses the swinging-up control of cart-pendulum. The theoretical analysis and simulation results have verified the universal validity of the HSIC theory which aims at the emulating human ¡°motor sensory preview intelligence¡± for the nonlinear system such as cart-pendulum, walking robots, etc
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| Parallel Manipulator Series |
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| Modeling, Identification and Control of a Redundant Planar 2-Dof Parallel Manipulator |
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Authors: ZHANG Yaoxin, CONG Shuang, SHANG Weiwei, LI Zexiang, JIANG Shilong
Source: International Journal of Control, Automation, and Systems, accepted
Abstract: In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of the joint angles with the end-effector coordinate. So with less computation, our controller is easier to be implemented and shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of the static friction model and the viscous friction model, the friction of the active joints of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.
Keywords: Augmented PD control, identification, parallel manipulator, PD control.
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| Auto-Calibration of a Redundant Parallel Manipulator Based on the Projected Tracking Error |
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Authors: ZHANG Yaoxin, CONG Shuang, LI Zexiang, JIANG Shilong
Source: Archive of Applied Mechanics, accepted
Abstract: Utilizing the projected tracking error of the redundant joint angles, the calibration problem of the sensor zero positions of a planar 2-dof parallel manipulator is studied in this paper. Based on the study of the relationship between the projected tracking error of the joint angles and the error of the sensor zero positions, a new error function is proposed for the calibration of the sensor zero positions of the parallel manipulator. It is proved that the error function is robust to the measurement error of the joint sensors, so accurate calibration results can be obtained by minimizing the error function even if the measurement of the joint angles is not accurate. With a simple searching strategy for the minimal value of the error function, an auto-calibration procedure is designed, and the validity of the calibration procedure is verified through real experiments on a real redundant planar 2-dof parallel manipulator.
Keywords: Auto-calibration; Jacobian matrix; Linear projection; Parallel manipulator.
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| Study of Control Strategies of Parallel Manipulator System |
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Authors: CONG Shuang, ZHANG Yaoxin
Source: Proceedings of 2005 Chinese Control and Decision Conference, Haerbin, 2005, 1973-1977
Abstract: Based on the characteristic of parallel manipulator, two classes of control methods according to the difference in the model establishment, kinematic control and dynamic control are investigated in this paper. The advantages of parallel manipulator and its difficulty in control are discussed. From the control point of view, performances of several control strategies with different model often used in practice are analyzed. The approach to improve further the control performance is put forward.
Keywords: parallel manipulator, serial manipulator, kinematic control, dynamic control
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| Adaptive fuzzy friction compensation for X-Y table |
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Authors: Wang Hongrui, Wang Xia, Jiang Chundi
Source: Proceedings of the 23th Chinese control conference
Abstract: An adaptive fuzzy system is used to approach the relationship between friction and velocity. Non-model based compensation method avoids the complicated identification of parameters. The adaptive mechanism enables the fuzzy system to adjust fuzzy logic automatically and to adapt to the changes of environment. Thus, the compensation is robust itself. The stability of the control law with fuzzy friction compensation is proved and simulation results verified the efficiency of the method.
Keywords: Adapting Fuzzy Control, Friction Compensation, X-Y table
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Download file: Adaptive fuzzy friction compensation for X-Y table
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| A STUDY ON NUMERICAL CONTROL Gear HOBBING SYSTEM BASED ON OPEN MOTION CONTROLLER |
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Authors: DU Jianming, WU Xutang, WU Hong
Abstract: A numerical control gear Hobbing architecture system based on open motion controller is discussed. Through study deeply on it, an idea of electronic differential gearbox is put forward primarily in our country. The numerical control gear Hobbing software is developed. Basic software modules for motion control system and a successful instance that YG3612B model gear Hobbing machine tools is changed by the numerical control system are given.
Keywords: Numerical control Gear Hobbing machine tools Motion control
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Download file: A STUDY ON NUMERICAL CONTROL Gear HOBBING SYSTEM BASED ON OPEN MOTION CONTROLLER
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| Development of high speed ball screw experimental platform control system |
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Authors: JIANG Shilong, ZHANG qingping
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