Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence最新文献_第7页

Event Triggered Feedback Linearization Sliding Mode Control for Trajectory Tracking by Multi-joint Robotic Manipulator 多关节机器人轨迹跟踪的事件触发反馈线性化滑模控制

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366201

Jie Zhang, Aihua Zhang, Qian Qian

{"title":"Event Triggered Feedback Linearization Sliding Mode Control for Trajectory Tracking by Multi-joint Robotic Manipulator","authors":"Jie Zhang, Aihua Zhang, Qian Qian","doi":"10.1145/3366194.3366201","DOIUrl":"https://doi.org/10.1145/3366194.3366201","url":null,"abstract":"In order to make the multi-joint robotic robot trajectory tracking control system resource-saving and reliable, an event-triggered control scheme based on feedback linearized sliding mode controller (FLSMC) is proposed. To improve the system robustness to unknown disturbances, the FLSMC is presented by adding sliding mode surface to the feedback linearization algorithm. And to avoiding the redundancy in control signal generation, the event-triggering condition is developed by introducing the event-triggered control frame, the control signal is updated only when the condition is satisfied, It is no longer necessary to generate fixed periodic signal frequently at each sampling time. The stability of the event-triggered FLSMC trajectory tracking control system and no Zeno behaviours in the system are proved. The event triggered scheme guarantees the trajectory hits the sliding manifold and remains ultimately bounded; the theoretical results are verified by simulation tests, the frequency of the communication and computation are reduced observably.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134455336","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Scanning-based 3D reconstruction of large-scale objects 基于扫描的大型物体三维重建

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366298

Suqin Bai, Jinlong Shi, Qijie Ge, Zhaohui Tian

引用次数: 5

Real-time obstacle avoidance with deep reinforcement learning Three-Dimensional Autonomous Obstacle Avoidance for UAV 基于深度强化学习的无人机三维自主避障算法

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366251

Songyue Yang, Z. Meng, Xuzhi Chen, Ronglei Xie

引用次数: 8

Geometric error based Configuration order selection for precision improvement in multi-axis motion system 基于几何误差的多轴运动系统位姿选择精度提高方法

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366272

Hao Tang, Ziling Zhang

{"title":"Geometric error based Configuration order selection for precision improvement in multi-axis motion system","authors":"Hao Tang, Ziling Zhang","doi":"10.1145/3366194.3366272","DOIUrl":"https://doi.org/10.1145/3366194.3366272","url":null,"abstract":"The multi-axis motion system(MMS) includes optoelectronic packaging system and CNC machine tools, the quality of which mainly rely on the precision of its controlling system. The distribution and influential ability of errors in this system needs high consideration to address the precision improvement problem. This issue has become more complex due to their strict high-accuracy requirements. It is therefore increasingly important to characterize the interaction between the precision and configuration setting of MMS. In this paper, the methodology of the analytical procedures for configuration order is raised and the configuration order is highly concerned, by the proposal of the definitions of single chain and double chain, the configuration setting is analyzed systematically. By using control variate method, each motion unit and the ground unit has been developed. The tables describe the relationship between geometric errors and configuration order has been partially listed. These tables can be utilized in configuration selection and precision improvement on MMS.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127116621","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The microstructure, hardness and friction and wear behavior of AM60B magnesium alloy by friction stir processing 研究了搅拌摩擦加工AM60B镁合金的显微组织、硬度及摩擦磨损性能

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366207

Nannan Wang, Lijie Cao, Kai Yin

引用次数: 1

Experimental Study on Bending Stiffness of a Soft Pneumatic Filament-polymer Actuator 柔性气动长丝-聚合物作动器弯曲刚度试验研究

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366304

Shoucheng Zhu, Zhonghua Guo, Chen Ji

{"title":"Experimental Study on Bending Stiffness of a Soft Pneumatic Filament-polymer Actuator","authors":"Shoucheng Zhu, Zhonghua Guo, Chen Ji","doi":"10.1145/3366194.3366304","DOIUrl":"https://doi.org/10.1145/3366194.3366304","url":null,"abstract":"Due to the advantages of soft material actuators, the soft material actuators become the important elements in automatic robots in recent years. The bending stiffness in the driving direction is an important parameter for pneumatic soft actuator, which directly affects the mechanical properties, like bending angle and deformation ability. In this study, a composite filament rectangular soft actuator (FRSA) is designed. The bending stiffness in the driving direction is variable as the actuator parameters are changed and such FRSA actuator can be used to adjust bending stiffness. The influences on bending stiffness from the material parameters and charged compressed air are studied experimentally. Experiments are carried out at variable filament diameters, cover ratios, inner wall thicknesses and compressed air pressures. The experimental data show that the bending stiffness increases with the increment of filament cover ratio. However, when the cover ratio is larger than 85%, the bending stiffness tends to be stable. At the same cover ratio, the bending stiffness of FRSA increases firstly and then decreases with the increment of the filament diameter. The composite filament actuator with larger cover ratio is more sensitive to the compressed air pressure, and its bending stiffness increases rapidly with the increment of the air pressure. Particularly, the actuator with 100% cover ratio gets the bending stiffness of 26.4 N/m at 120 kPa, which is 21% higher than that without compressed air.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122113958","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Workspace Analysis of a Three-Degree-of-Freedom 2-PUR-PRPR Parallel Mechanism 三自由度2-PUR-PRPR并联机构的工作空间分析

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366231

Fei Dong, Yong-xiu Xu, Yan Wang

引用次数: 0

The impact response of composite laminates based on fracture toughness stiffness degradation 基于断裂韧性-刚度退化的复合材料层合板冲击响应

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366250

Hao Yuan, Xiaoyu Zhao

引用次数: 1

Design and Implementation of Multi-node Environmental Information Acquisition System 多节点环境信息采集系统的设计与实现

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366312

Tianci Chen, Lixue Zhu, Genping Fu, Weifeng Huang, Chenyu Yang, Chao Li

引用次数: 0

Fault diagnosis of rolling bearing based on k-svd dictionary learning algorithm and BP Neural Network 基于k-svd字典学习算法和BP神经网络的滚动轴承故障诊断

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI: 10.1145/3366194.3366254

Ruxiao Zhang, Yu Fang, Zhifeng Zhou

引用次数: 6