Intelligence & Robotics最新文献

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Semi-supervised joint adaptation transfer network with conditional adversarial learning for rotary machine fault diagnosis 基于条件对抗学习的半监督联合自适应传递网络在旋转机械故障诊断中的应用
Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2023.07
Chongxing Liu, Shaojie Li, Hongtian Chen, Xianchao Xiu, Chen Peng
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引用次数: 0
An open-closed-loop iterative learning control for trajectory tracking of a high-speed 4-dof parallel robot 高速四自由度并联机器人轨迹跟踪的开闭环迭代学习控制
Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2022.02
Qiancheng Li, Enyu Liu, Chuangchuang Cui, Guanglei Wu
{"title":"An open-closed-loop iterative learning control for trajectory tracking of a high-speed 4-dof parallel robot","authors":"Qiancheng Li, Enyu Liu, Chuangchuang Cui, Guanglei Wu","doi":"10.20517/ir.2022.02","DOIUrl":"https://doi.org/10.20517/ir.2022.02","url":null,"abstract":"Precise control is of importance for robots, whereas, due to the presence of modeling errors and uncertainties under the complex working environment, it is difficult to obtain an accurate dynamic model of the robot, leading to decreased control performances. This work presents an open-closed-loop iterative learning control applied to a four-limb parallel Schönflies-motion robot, aiming to improve the tracking accuracy with high movement, in which the controller can learn from the iterative errors to make the robot end-effector approximate to the expected trajectory. The control algorithm is compared with classical D-ILC, which is illustrated along with an industrial trajectory of pick-and-place operation. External repetitive and non-repetitive disturbances are added to verify the robustness of the proposed approach. To verify the overall performance of the proposed control law, multiple trajectories within the workspace, different working frequencies for a prescribed trajectory, and different design methods are selected, which show the effectiveness and the generalization ability of the designed controller.","PeriodicalId":426514,"journal":{"name":"Intelligence & Robotics","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121952109","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
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