Motion Control Analysis of Heavy-Duty Hexapod Robot in Mountainous Environment

2020 ◽  
Vol 09 (02) ◽  
pp. 143-153
Author(s):  
晓 胡
Keyword(s):  
Motion Control ◽  
Control Analysis ◽  
Hexapod Robot ◽  
Heavy Duty

Powertrain Motion Control Analysis under Quasi-Static Extreme Loads

2016 ◽  
Author(s):  
Tianqi Lv ◽  
Peijun Xu ◽  
Yunqing Zhang
Keyword(s):  
Motion Control ◽  
Control Analysis ◽  
Extreme Loads

Motion-control analysis of ICPF-actuated underwater biomimetic microrobots

2011 ◽  
Vol 1 (2) ◽  
pp. 79 ◽  
Author(s):  
Baofeng Gao ◽  
Shuxiang Guo ◽  
Xiufen Ye
Keyword(s):  
Motion Control ◽  
Control Analysis

scholarly journals TINGKAT PELAYANAN RUAS JALAN TEUKU UMAR DAN JALAN SETIABUDI KOTA SEMARANG DI TINJAU DARI ASPEK PERMASALAHAN KEMACETAN LALU LINTAS

2019 ◽  
Vol 14 (1) ◽  
pp. 54
Author(s):  
Agung Hendra Kusumo ◽  
Tjoek Suroso Hadi
Keyword(s):  
Motion Control ◽  
Traffic Congestion ◽  
Observation Point ◽  
Level Of Service ◽  
Control Analysis ◽  
Traffic Jam ◽  
Classic Problem ◽  
Deductive Method ◽  
Grade Separation ◽  
And Performance

Traffic congestion is a classic problem in big cities especially in developing countries such as Indonesia. Many things can be the cause of the traffic jam, for it is necessary to research on traffic congestion as much as possible, with the hope of producing the best solution for all.Congestion that occurs due to the activity and mixing between local and regional flows. The purpose of this study is to analyze the level of service and performance road cut Teuku Umar street and road Setiabudi, so it can be arranged alternative actions that can be done to address the problem of traffic congestion.The method used in this research is by using Quantitative Deductive Method Rationalistic, with retrofitting Level of Service and analysis of motion control (maneuver) in order to see the level of service road and the movement of traffic in motion over Jatingaleh Region Semarang. The results of this study is the identification of the causes of traffic congestion and the suitability of the performance in the study area (Region Jatingaleh).Level of service for road Jatingaleh area is the level of F means that hampered the flow of traffic, low speed, volume over capacity, congestion often occurs at a time long enough so that it can drop to zero. In the piece Jalan Teuku Umar and Jalan Setiabudi there are several types of motion control, there are approximately 5 crossing, diverging 6, 7 merging and 3 weaving. Seeing the condition of the poor level of service in most of the observation point, of course, reduce the performance of the maneuver crossing the road.Need for the recommendation that a new path with the added solution of the motion control analysis (maneuver) in the form of Grade Separation, can be Overpass (Flyover) or underpass.Keywords: transportation, congestion, road, and traffic.

Design Optimization and Control Analysis of Mechanical Arm Equipped on Wheelchair

2014 ◽  
Vol 983 ◽  
pp. 363-367
Author(s):  
Gui Bin Luo ◽  
Can Can Zeng ◽  
Li Da Zhu
Keyword(s):  
Design Optimization ◽  
Motion Control ◽  
Linear Interpolation ◽  
Assistive Devices ◽  
Control Analysis ◽  
Kinematics Analysis ◽  
Key Points ◽  
Optimization And Control ◽  
Strength And Stiffness ◽  
And Control

Aiming at the phenomenon that our country has a large number of disabled due to illness or accident while the corresponding assistive devices is extremely deficient, we have designed a kind of mechanical arm which is intended to be equipped on wheelchair. We adopt articulated mechanical arm with multi-DOF as its mechanical structure, and choose MCU as the main controller; therefore it can make all kinds of flexible action to achieve a variety of functions. In order to improve the accuracy of manipulator, based on experimental results, we optimize the mechanical arm’s structure, improving its strength and stiffness; in order to realize the motion control of the manipulator, the kinematics analysis is conducted, when solving the mechanical arm’s anthropomorphic action problem, we set key points and then optimize the trajectory with linear interpolation, at last achieve anthropomorphic movement.

Automated Feed-Forward Learning for Pressure-Compensated Mobile Hydraulic Valves With Significant Dead-Zone

2017 ◽  
Author(s):  
Jarmo Nurmi ◽  
Jouni Mattila
Keyword(s):  
Motion Control ◽  
Dead Zone ◽  
Heavy Duty ◽  
Automated Identification ◽  
Forward Models ◽  
Feed Forward ◽  
Loop Control ◽  
Hydraulic Manipulators ◽  
Hydraulic Manipulator ◽  
Hydraulic Valves

Hydraulic manipulators on mobile machines, whose hydraulic actuators are usually controlled by mobile hydraulic valves, are being considered for robotic closed-loop control. A feed-forward-based strategy combining position and velocity feedback has been found to be an effective method for the motion control of pressure-compensated mobile hydraulic valves that have a significant dead zone. The feed-forward can be manually identified. However, manually identifying the feed-forward models for each valve-actuator pair is often very time-consuming and error-prone. For this practical reason, we propose an automated feed-forward learning method based on velocity and position feedback. We present experimental results for a heavy-duty hydraulic manipulator on a forest forwarder to demonstrate the effectiveness of the proposed method. These results motivate the automated identification of velocity feed-forward models for motion control of heavy-duty hydraulic manipulators controlled by pressure-compensated mobile hydraulic valves that have a significant input dead zone.

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