151 Circular Path Tracking Control of Parallel Link Mechanism with Six Degrees of Freedom Using Electro-Hydraulic Servo Cylinders

Due to the target ship in the traditional ship handling simulator have not the ability to give way to other ships automatically to avoid collision, this paper put forward a new idea that bringing the hydraulic servo platform, six degrees of freedom ship mathematical model, the actual traffic flow, researching achievement of automatic anti-collision in research of the new pattern ship handling simulator, and successfully develop the Intelligent Ship Handling Simulator(ISHS for short). The paper focuse on the research on the network communication model of ISHS. We took the entire simulator system as three relatively independent networks, proposed a framework of communication network that combined IOCP model based on TCP with blocking model based on UDP, and gave the communication process and protocols of system. Test results indicate that this is an effective way to improve the ownship capacity of ship handling simulator and meet the need of multi-ownship configuration of desktop system of ship handling simulator.

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Sequential Time-Optimal Algorithm for Extended Path Tracking Problem

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4046614 ◽

2020 ◽

Vol 142 (8) ◽

Author(s):

Gábor Csorvási ◽

István Vajk

Keyword(s):

Degrees Of Freedom ◽

Optimal Algorithm ◽

Real Life ◽

Path Tracking ◽

Robotic Arm ◽

Tracking Problem ◽

Six Degrees Of Freedom ◽

Time Optimal ◽

Path Tracking Algorithm ◽

Extended Path

Abstract This paper presents a fast and easily implementable path tracking algorithm for robots. Usually, for a path tracking problem, the goal is to move the robot on a predefined path, while the joint velocities and accelerations are kept within their limits. This paper deals with the extended case, constraining the forces applied to the objects at the manipulator. First, a problem with a special set of constraints is presented, and a sequential solver method is formulated. The presented sequential solver algorithm has significant computational benefits compared to the direct transcription approach. Then, a practical example is introduced where the proposed algorithm can be applied. At last, the algorithm is validated by real-life experimental results with a six degrees-of-freedom robotic arm.

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856 Control of an Electrohydraulic Parallel Link Servomechanism with Six Degrees of Freedom

The Proceedings of Yamanashi District Conference ◽

10.1299/jsmeyamanashi.2004.253 ◽

2004 ◽

Vol 2004 (0) ◽

pp. 253-254

Author(s):

Katsumasa SUZUKI ◽

Takayuki KAGEYAMA

Keyword(s):

Degrees Of Freedom ◽

Six Degrees Of Freedom ◽

Parallel Link

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Development of periodic error suppression control in six-degrees of freedom parallel link shaking table

The Proceedings of the International Conference on Motion and Vibration Control ◽

10.1299/jsmeintmovic.2020.15.10048 ◽

2020 ◽

Vol 2020.15 (0) ◽

pp. 10048

Author(s):

Kento MATSUMOTO ◽

Hiroki MATSUDA ◽

Mineki OKAMOTO ◽

Ryo HOSODA ◽

Tsuyoshi OMURA ◽

...

Keyword(s):

Degrees Of Freedom ◽

Shaking Table ◽

Six Degrees Of Freedom ◽

Parallel Link ◽

Periodic Error ◽

Error Suppression

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Neural Network Compensation Method for Path Tracking Control of a Spherical Mobile Robot

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.635-637.1325 ◽

2014 ◽

Vol 635-637 ◽

pp. 1325-1328

Author(s):

Yao Cai ◽

Feng Gao ◽

Ze Ning Liu

Keyword(s):

Neural Network ◽

Mobile Robot ◽

Tracking Control ◽

Degrees Of Freedom ◽

Control Method ◽

Path Tracking ◽

Dynamics Model ◽

Compensation Strategy ◽

Spherical Mobile Robot ◽

Dynamics Models

This paper presents a neural network compensation strategy for the path tracking control of a spherical mobile robot BHQ-2 including a pendulum with two degrees of freedom. Based on our previous work, we propose a simplified method to decompose the dynamics model of BHQ-2 to be two sub-dynamics models. Applying the fuzzy guidance control method and a neural network compensation strategy, a path tracking controller for robot BHQ-2 is designed.

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