scholarly journals Grasping Strategy and Control Algorithm of Two Robotic Fingers Equipped with Optical Three-Axis Tactile Sensors

2012 ◽  
Vol 41 ◽  
pp. 1573-1579 ◽  
Author(s):  
Hanafiah Yussof ◽  
Masahiro Ohka
2013 ◽  
Vol 744 ◽  
pp. 501-504 ◽  
Author(s):  
Jin Jun Chen ◽  
Ting Xiang

A type of tactile sensors based on piezoresistive principle is designed for the robot grab force detection and control. According to human behaves and awareness, the robot grabbing control program imitate human hand grasp active perception and action mechanisms. With the tactile sensors, the slip and grasping process pressure signal is sampled and analysed by general time-domain statistical parameter, and a simpler control algorithm is researched. In the experiment the robot has accomplished soft grabbing by modeling human hand action and applied appropriate grabbing force on objects of different weights or material by means of the control algorithm. Experiments suggest that this sensor and action biomimetic process is suitable to be used in the tele-presence technology application in the case of the visible range or visual equipment aid especially.


2013 ◽  
Vol 433-435 ◽  
pp. 1091-1098
Author(s):  
Wei Bo Yu ◽  
Cui Yuan Feng ◽  
Ting Ting Yang ◽  
Hong Jun Li

The air precooling system heat exchange process is a complex control system with features such as: nonlinear, lag and random interference. So choose Generalized Predictive Control Algorithm that has low model dependence, good robustness and control effect, as well as easy to implement. But due to the large amount of calculation of traditional generalized predictive control and can't juggle quickness and overshoot problem, an improved generalized predictive control algorithm is proposed, then carry out the MATLAB simulation, the experimental results show that the algorithm can not only greatly reduce the amount of computation, but also can restrain the overshoot and its rapidity.


Author(s):  
Carlos Y. García-Ramos ◽  
Jose M. González-Cava ◽  
José F. Gómez González ◽  
Sara González Pérez

"This work presents a simulated study of the energy management of an energy system connected to the grid with photovoltaic generation and battery storage. The work proposes a energy management system based on fuzzy logic. It is intended to be used in the hotel industry. The objective of the proposed controller is to maximise the renewable power source but including also economic criteria in the management. The proposal was implemented in simulation considering a 5,1kW peak photovoltaic installation and a set of batteries with a capacity of 384Ah. First results obtained show that the system achieves the specifications proposed. Thus, the study evidences the potential of the proposed control algorithm and demonstrate the suitability of the use of intelligent techniques for the energy management in hotels."


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