Comparison of Damped Velocity and Acceleration Control for Non-Redundant Manipulators

2000 ◽  
Author(s):  
Yu-Che Chen ◽  
Kevin A. O’Neil
Keyword(s):  
Path Tracking ◽  
Least Square ◽  
Dynamics Simulation ◽  
Control Algorithms ◽  
Redundant Manipulators ◽  
Velocity Control ◽  
Redundant Manipulator ◽  
Singular Configurations ◽  
On Line ◽  
Simulation Results

Abstract Damped Least Square (DLS) method has been widely used as an on-line algorithm for manipulator path tracking near and at singular configurations. Wampler (1986) formulated the framework of DLS method applied to velocity control and addressed the applicability of DLS method to acceleration control. The purpose of this paper is to demonstrate the differences in the joint paths generated by damped velocity and damped acceleration control algorithms in non-redundant manipulators. We examine these joint paths, find the cause of the differences, and demonstrate the features of damped acceleration control in non-redundant manipulator dynamics. Simulation results on a planar 2R and a spatial 6R manipulator moving through and near singular configurations verify the phenomena analyzed.

Methods of Feature Weighting Calculation and Case Retrieval in CBR Case Base

2014 ◽  
Vol 490-491 ◽  
pp. 1391-1398
Author(s):  
Xiao Ping Li
Keyword(s):  
Least Squares Method ◽  
Least Square Method ◽  
High Accuracy ◽  
Typical Case ◽  
Feature Weighting ◽  
Least Square ◽  
Case Retrieval ◽  
Use Of Data ◽  
On Line ◽  
Simulation Results

This article proposes the necessity and feasibility of the use of Data Mining and Knowledge Discovery in CBR reasoning. This paper focuses on the method of empowering feature items based on least squares method parameter identification, and achieve the method of Similarity case retrieval on this basis, the object is the typical case database of railway rescue. The simulation results show that: the least square method can effectively make estimation and identification of the feature parameters, and can continuously correct on-line. High accuracy and fast convergence characteristics of the assigned parameters show that the algorithm has a certain application value.

A DEPENDENT-SCREW SUPPRESSION APPROACH TO THE SINGULARITY ANALYSIS OF A 7-DOF REDUNDANT MANIPULATOR: CANADARM2

2005 ◽  
Vol 29 (4) ◽  
pp. 593-604 ◽  
Author(s):  
Xianwen Kong ◽  
Clément M. Gosselin
Keyword(s):  
Singularity Analysis ◽  
Degree Of Freedom ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Singular Configurations

A dependent-screw suppression approach is proposed for the singularity analysis of 7-DOF (degree-of-freedom) redundant manipulators. This approach is applied to the singularity analysis of the Canadarm2. Five families of singular configurations are identified for the Canadarm2. The singular configurations obtained are identical to those obtained using the reciprocity-based method. Unlike the results presented previously, there are no denominators in the equations describing the singular configurations.

Performance Analysis for First-Order Configuration Prediction for Redundant Manipulators Based on Avoidance Manipulability

2014 ◽  
Vol 18 (3) ◽  
pp. 443-450
Author(s):  
Akira Yanou ◽  
◽  
Yang Hou ◽  
Mamoru Minami ◽  
Yosuke Kobayashi
Keyword(s):  
Obstacle Avoidance ◽  
Predictive Control ◽  
Trajectory Tracking ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Current Configuration ◽  
First Order ◽  
Target Trajectory ◽  
Tracking Process ◽  
On Line

This paper explores a performance of first-order configuration prediction for redundant manipulators based on avoidance manipulability in order to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators. In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real time. Predictive control in this paper uses manipulators’ future configurations to control current configuration aiming at completing tasks of trajectory tracking and obstacle avoidance on-line and simultaneously with higher avoidance manipulability. We compare Multi-Preview Control with predictive control using redundant manipulator, and show the results through simulations. The effectiveness of predictive control using first-order configuration prediction is also validated in the case of not only straight target trajectory but also curve target trajectory. In addition, an influence of measurement noise on manipulator’s joint angle is newly considered.

Parameters Identification of Induction Motor for Electric Vehicle Based on Least Squares Method

2011 ◽  
Vol 383-390 ◽  
pp. 648-653
Author(s):  
Jin Liang Zhang ◽  
Cun Shan Zhang
Keyword(s):  
Induction Motors ◽  
Least Squares Method ◽  
Least Square ◽  
Recursive Least Square ◽  
Output Data ◽  
Leakage Inductance ◽  
Rotor Resistance ◽  
On Line ◽  
Simulation Results ◽  
Rotor Winding

This paper deals with on-line parameter identification of induction motors (IM) by means of least square techniques .Using stator voltages, stator currents and velocity as input-output data. For analytical identification by recursive least square (RLS) algorithms, filtering of experimental data is performed by means of anticausal filters. The simulation results show that error of the parameter estimation of the rotor resistance, self inductance of the rotor winding, as well as the stator leakage inductance are less than 5% .It demonstrate the practical use of the identification method.

Direct Assessment of Effective Renal Plasma Flow from Renoscintigraphy with a Gamma Camera and an On-Line Computer

1981 ◽  
Vol 20 (06) ◽  
pp. 274-278
Author(s):  
J. Liniecki ◽  
J. Bialobrzeski ◽  
Ewa Mlodkowska ◽  
M. J. Surma
Keyword(s):  
Count Rate ◽  
Renal Plasma Flow ◽  
Early Period ◽  
Least Square Method ◽  
Least Square ◽  
Uptake Coefficient ◽  
Positive Linear Correlation ◽  
On Line ◽  
Best Fit ◽  
Plasma Activity

A concept of a kidney uptake coefficient (UC) of 131I-o-hippurate was developed by analogy from the corresponding kidney clearance of blood plasma in the early period after injection of the hippurate. The UC for each kidney was defined as the count-rate over its ROI at a time shorter than the peak in the renoscintigraphic curve divided by the integral of the count-rate curve over the "blood"-ROI. A procedure for normalization of both curves against each other was also developed. The total kidney clearance of the hippurate was determined from the function of plasma activity concentration vs. time after a single injection; the determinations were made at 5, 10, 15, 20, 30, 45, 60, 75 and 90 min after intravenous administration of 131I-o-hippurate and the best-fit curve was obtained by means of the least-square method. When the UC was related to the absolute value of the clearance a positive linear correlation was found (r = 0.922, ρ > 0.99). Using this regression equation the clearance could be estimated in reverse from the uptake coefficient calculated solely on the basis of the renoscintigraphic curves without blood sampling. The errors of the estimate are compatible with the requirement of a fast appraisal of renal function for purposes of clinical diagknosis.

Study on Engine Kinematics and Dynamics Simulation Based on COSMOSMotion

2012 ◽  
Vol 503-504 ◽  
pp. 731-734
Author(s):  
Xiao Xu Liu ◽  
Min Chen ◽  
Ai Hua Tang
Keyword(s):  
Virtual Prototype ◽  
Dynamics Simulation ◽  
Kinematics And Dynamics ◽  
Engine Model ◽  
Kinematics Simulation ◽  
Simulation Based ◽  
Calculation Results ◽  
Simulation Results ◽  
Dynamics Simulations

The engine model with 4 cylinders is built by SolidWorks, the kinematics and dynamics simulations of the engine virtual prototype are done by COSMOSMotion, the results of kinematics simulation are checked, there are very small errors between the simulation results and the calculation results according to formulas. The mainly results of dynamics simulation are given. The simulation result consists with the parameters of the engine.

Dynamics Simulation and Analysis of Transition Stage of Tilt-Rotor Aircraft

2016 ◽  
Vol 842 ◽  
pp. 251-258 ◽  
Author(s):  
Muhammad Rafi Hadytama ◽  
Rianto A. Sasongko
Keyword(s):  
Dynamic Response ◽  
Equations Of Motion ◽  
Flight Dynamics ◽  
Dynamics Simulation ◽  
Tilt Rotor ◽  
Vertical Takeoff And Landing ◽  
Improved Stability ◽  
Simulation Results ◽  
Vtol Aircraft ◽  
Vertical Takeoff

This paper presents the flight dynamics simulation and analysis of a tilt-rotor vertical takeoff and landing (VTOL) aircraft on transition phase, that is conversion from vertical or hover to horizontal or level flight and vice versa. The model of the aircraft is derived from simplified equations of motion comprising the forces and moments working on the aircraft in the airplane's longitudinal plane of motion. This study focuses on the problem of the airplane's dynamic response during conversion phase, which gives an understanding about the flight characteristics of the vehicle. The understanding about the flight dynamics characteristics is important for the control system design phase. Some simulation results are given to provide better visualization about the behaviour of the tilt-rotor. The simulation results show that both transition phases are quite stable, although an improved stability can give better manoeuver and attitude handling. Improvement on the simulation model is also required to provide more accurate and realistic dynamic response of the vehicle.

The Study on Young's Modulus of Multilayered Cu/Ni Multilayered Nano Thin Films by Molecular Dynamics Simulation

2014 ◽  
Vol 513-517 ◽  
pp. 113-116
Author(s):  
Jen Ching Huang ◽  
Fu Jen Cheng ◽  
Chun Song Yang
Keyword(s):  
Thin Film ◽  
Thin Films ◽  
Molecular Dynamics ◽  
Molecular Dynamics Simulation ◽  
Strain Rate ◽  
Young’S Modulus ◽  
Potential Function ◽  
Dynamics Simulation ◽  
System Temperature ◽  
Simulation Results

The Youngs modulus of multilayered nanothin films is an important property. This paper focused to investigate the Youngs Modulus of Multilayered Ni/Cu Multilayered nanoThin Films under different condition by Molecular Dynamics Simulation. The NVT ensemble and COMPASS potential function were employed in the simulation. The multilayered nanothin film contained the Ni and Cu thin films in sequence. From simulation results, it is found that the Youngs modulus of Cu/Ni multilayered nanothin film is different at different lattice orientations, temperatures and strain rate. After experiments, it can be found that the Youngs modulus of multilayered nanothin film in the plane (100) is highest. As thickness of the thin film and system temperature rises, Youngs modulus of multilayered nanothin film is reduced instead. And, the strain rate increases, the Youngs modulus of Cu/Ni multilayered nanothin film will also increase.

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