A High-speed Motion Control Method of Pendulum Driven Spherical Robot

2021 ◽  
Author(s):  
Zhaohan Feng ◽  
Hanxu Sun
Keyword(s):  
Motion Control ◽  
High Speed ◽  
Control Method ◽  
Spherical Robot

A Feasible and Applicable Motion Control Method for AUV

2013 ◽  
Vol 694-697 ◽  
pp. 1771-1778
Author(s):  
Lei Zhang ◽  
Zhuo Wang ◽  
Jin Xin Zhao ◽  
Ying Liu
Keyword(s):  
Motion Control ◽  
Integral Method ◽  
High Speed ◽  
Control Method ◽  
Velocity Control ◽  
Coupling Effects ◽  
Yaw Control ◽  
Surface Control ◽  
Adaptive Weight ◽  
Depth Control

Both the high speed and the changing excess buoyancy can make it difficult in motion control of AUV, in order to solve the problems, an improved control method based on S-surface control is proposed. Taking static forces and coupling effects between longitude velocity and other dimensions into account, the compensation related to the speed is brought into the method to handle the effects caused by high speed. In accordance with the thoughts of S-surface control, an anti-windup intelligent integral method is presented to handle the changing excess buoyancy and propulsion loss via an adaptive weight determined by estimating the motion states of AUV. Finally, experiments of velocity control, yaw control and depth control are conducted, and the results prove the feasibility and advantages in application to AUV motion control.

Many High Performance Motion Control of Linear Motor Drive System Research

2014 ◽  
Vol 599-601 ◽  
pp. 981-984
Author(s):  
Chuan Jun Li ◽  
Qiu Juan Liang
Keyword(s):  
Motion Control ◽  
High Precision ◽  
High Speed ◽  
High Performance ◽  
Control Method ◽  
Linear Motor ◽  
Structure Design ◽  
Numerical Control ◽  
System Control ◽  
Motion Platform

To realize the movement of high-speed, high-precision positioning, satisfy the requirement of the numerical control processing equipment and high precision, based on high performance motion control platform driven by linear motor, an optimized for high performance XY table structure design, the broadband modal coupling modeling and simulation movement, dynamics analysis and controller design, such as content, high performance motion platform organization structure optimization, the global optimization of mechanical system and electrical system. Eventually for high performance sports mechanism design, modeling method and system control method provides the key techniques such as solution, and to develop more high performance motion control of linear motor driven platform prototype machines.

Linear Motion Control of an Underactuated Spherical Mobile Robot

2014 ◽  
Vol 644-650 ◽  
pp. 351-355
Author(s):  
Qiang Zhan ◽  
Xing Chi ◽  
Xi Xi
Keyword(s):  
Motion Control ◽  
Position Control ◽  
Control Method ◽  
Steady Motion ◽  
Linear Motion ◽  
Spherical Robot ◽  
Lagrange Method ◽  
Input Multiple Output ◽  
Single Input ◽  
Spherical Mobile Robot

Due to the nonholonomic and underactutated properties of spherical robot, to realize its steady motion control is usually difficult. This paper presents a linear motion control method for an underactuated spherical robot. The linear motion dynamic model of the spherical robot is deduced with Euler-Lagrange method, which is a second order, nonlinear differential system with two coupled variables. Without any linearization a single-input multiple-output PID controller to realize the position control and pendulum angle control simultaneously is designed. Simulation results about the position stabilization and path tracking control are provided separately to show the control effects of the proposed controller.

Human Dynamic Skill in High Speed Actions and Its Realization by Robot

2000 ◽  
Vol 12 (3) ◽  
pp. 318-324 ◽  
Author(s):  
Aiguo Ming ◽  
◽  
Makoto Kajitani
Keyword(s):  
Motion Control ◽  
Basic Concept ◽  
High Speed ◽  
Control Method ◽  
Golf Swing ◽  
Dynamic Coupling ◽  
Passive Joint ◽  
Ultra High Speed ◽  
Simulation Results ◽  
And Control

This paper describes human dynamic skill of motion control in high speed actions (e.g. hitting actions) and its application to development of ultra-high-speed manipulator. Human skill is investigated by measuring the motion of human hammering action and analyzing from kinetics, and is called as multi-step acceleration by dynamic coupling drive. According to the results, basic concept for ultra-high-speed manipulator to realize human dynamic skill is given. As a simple example, a golf swing robot with one actuated joint and one passive joint with stopper, and a control method to realize two-step acceleration by dynamic coupling drive are proposed. The effectiveness of the proposed mechanism and control method is confirmed by simulation results.

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

2010 ◽  
Vol 7 ◽  
pp. 109-117
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov ◽  
B.S. Yudintsev
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Speed ◽  
Ultrasonic Sensor ◽  
Sensor System ◽  
Motion Control System ◽  
Speed Sensor ◽  
Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

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