2013 CACS International Automatic Control Conference (CACS)最新文献_第5页

Modeling and motion analysis of four-Mecanum wheel omni-directional mobile platform 四轮全向移动平台建模与运动分析

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734155

Yifan Jia, X. Song, S. Xu

引用次数: 19

Wheeled robot navigation and local-map building in unknown environments 未知环境下轮式机器人导航与局部地图构建

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734159

Hung-Yuan Chung, C. Hou, Zih-Rong Lu

引用次数: 2

Implementation of maximum torque per amperage control using estimation technique of rotor time constant 利用转子时间常数估计技术实现每安培最大转矩控制

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734146

M. Tsai, M. J. Wu, T. C. Tu, B. Chou

引用次数: 7

Indoor navigation with smartphone-based visual SLAM and Bluetooth-connected wheel-robot 室内导航，基于智能手机的视觉SLAM和蓝牙连接的轮式机器人

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734167

W. Kao, Bui Quang Huy

引用次数: 23

Sensor filtering for balancing of humanoid robots in highly dynamic environments 高动态环境下仿人机器人平衡的传感器滤波

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734127

J. Baltes, Chris Iverach-Brereton, J. Anderson

引用次数: 5

Identification of the inverse dynamics of robot manipulators with the structured kernel 基于结构核的机械臂逆动力学辨识

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734144

Ching-An Cheng, Han-Pang Huang, Huan-Kun Hsu, Wei-Zh Lai, Chih-Chun Cheng, Yung-Chih Li

{"title":"Identification of the inverse dynamics of robot manipulators with the structured kernel","authors":"Ching-An Cheng, Han-Pang Huang, Huan-Kun Hsu, Wei-Zh Lai, Chih-Chun Cheng, Yung-Chih Li","doi":"10.1109/CACS.2013.6734144","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734144","url":null,"abstract":"The inverse dynamics model of robots is often the key for accurate control. Especially in the computed torque control, the nonlinearity and the friction can be compensated, leading to better performance. The inverse models, however, is not trivial. The traditional Euler-Lagrange model based on the rigid body assumption often underfits in the presence of frictions and requires tedious derivations; the learning-based model needs larger training data set, since the structure of the dynamics is not considered. To overcome the aforementioned issues, we propose a structured kernel to replace the rigid body model and combine it with the universal radial basis kernel by direct sum. The proposed structured kernel asymptotically has the same convergence rate as the traditional model, and is general regardless of the configuration of the robot. Therefore, no analytic derivation is needed. Together with the universal radial basis kernel, the proposed approach enjoys the advantages of both the conventional and the learning-based models. To verify the proposed method, the simulations are used to investigate the performance in terms of the prediction errors.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117273970","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: 1

Feedforward control for piezoelectric actuator using inverse Prandtl-Ishlinskii model and particle swarm optimization 基于逆Prandtl-Ishlinskii模型和粒子群优化的压电驱动器前馈控制

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734100

Jin-Wei Liang, Hung-Yi Chen, Lung Lin

引用次数: 1

A study on optimum design and dynamic behavior of a hydrostatic guideway on rotary machine tool 回转机床静压导轨的优化设计与动态特性研究

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734123

J. Shie, M. Shih

引用次数: 1

Development of an automatic inspection system for the LAF sensor LAF传感器自动检测系统的研制

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734189

Hsin-Chien Huang, Hsing-Hsin Huang, Chun-Chi Li

{"title":"Development of an automatic inspection system for the LAF sensor","authors":"Hsin-Chien Huang, Hsing-Hsin Huang, Chun-Chi Li","doi":"10.1109/CACS.2013.6734189","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734189","url":null,"abstract":"Nowadays the amount of automobiles and motorcycles is fast expanding, which results in the increment of emission and fuel consumption. To deal with these problems, it always installs oxygen sensor at the outlet of engine. Oxygen sensor can detect the content of exhaust gas, and transmits the information to ECU to control the fuel injection so that fuel consumption as well as air pollution can be reduced. With the increasing price of gasoline, usage of the Lean Air-Fuel (LAF) engine is greatly increased, which leads to the demand of the LAF sensor. The difference between LAF sensor with traditional oxygen sensor is that LAF sensor can be used to determine higher air-fuel ratio. Therefore, it is applicable for LAF engine. The cooperative company of this research has developed the prototype of LAF sensor. In order to increase production and to ensure quality, they need an automated inspection system to replace their manual inspection operations. The research firstly studied the function of the sensor and the manual inspection process in the company. Next, we improved the process and designed the automatic mechanisms. The main result was the development of an automatic inspection system which can automatically test the sensor and classify its quality.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128769324","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

Feedback control based sampled-data ILC for repetitive position tracking control of DC motors 基于采样数据反馈控制的直流电动机重复位置跟踪控制

2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734164

Chiang-Ju Chien, Kuo-Yung Ma

引用次数: 5