{"title":"一个宏/迷你机械手的中程控制","authors":"Zheng Ma, G. Hong, M. Ang, A. Poo","doi":"10.1109/AIM.2015.7222628","DOIUrl":null,"url":null,"abstract":"Mid-ranging control is an established control approach developed for systems with more than one manipulated inputs controlling a single target output. In this paper, the application of a mid-ranging control approach, Valve Position Control (VPC), in the control of a macro/mini manipulator is presented. The results from simulation studies show that the macro/mini combination, under VPC, was able to achieve accurate and fast position tracking while having the advantage of the larger workspace of the macro. An Enhanced VPC approach is proposed which can effectively decouple the output of the macro/mini manipulator from changes to the setpoint input to the mini.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"10","resultStr":"{\"title\":\"Mid-ranging control of a macro/mini manipulator\",\"authors\":\"Zheng Ma, G. Hong, M. Ang, A. Poo\",\"doi\":\"10.1109/AIM.2015.7222628\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Mid-ranging control is an established control approach developed for systems with more than one manipulated inputs controlling a single target output. In this paper, the application of a mid-ranging control approach, Valve Position Control (VPC), in the control of a macro/mini manipulator is presented. The results from simulation studies show that the macro/mini combination, under VPC, was able to achieve accurate and fast position tracking while having the advantage of the larger workspace of the macro. An Enhanced VPC approach is proposed which can effectively decouple the output of the macro/mini manipulator from changes to the setpoint input to the mini.\",\"PeriodicalId\":199432,\"journal\":{\"name\":\"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)\",\"volume\":\"5 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-07-07\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"10\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/AIM.2015.7222628\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AIM.2015.7222628","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Mid-ranging control is an established control approach developed for systems with more than one manipulated inputs controlling a single target output. In this paper, the application of a mid-ranging control approach, Valve Position Control (VPC), in the control of a macro/mini manipulator is presented. The results from simulation studies show that the macro/mini combination, under VPC, was able to achieve accurate and fast position tracking while having the advantage of the larger workspace of the macro. An Enhanced VPC approach is proposed which can effectively decouple the output of the macro/mini manipulator from changes to the setpoint input to the mini.
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