Construction of program movements of two!handed technological robots

The paper analyse the two wheel differential robot motion control, and the membership function of affiliation between the amount of input and output was established.Then combine the incremental PID control algorithm with fuzzy control strategy, and it was used to the two wheel differential robot motion control model. By the MATLAB for simulation, get the control system response curve and achieve a satisfactory result.

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Control Algorithm for Four-Wheeled Robot Motionfor Monit oring Problems

Solid State Phenomena ◽

10.4028/www.scientific.net/ssp.147-149.31 ◽

2009 ◽

Vol 147-149 ◽

pp. 31-34

Author(s):

Maryna P. Mukhina

Keyword(s):

Mobile Robots ◽

Motion Control ◽

Control Algorithm ◽

Kinematics And Dynamics ◽

Wheeled Mobile Robots ◽

Wheeled Robot ◽

Navigation And Control ◽

Monitoring And Surveillance ◽

Robotic Vehicle ◽

And Control

Monitoring and surveillance by means of mobile robots are of great importance in a number of various applications. The level of technology and science development is high enough to use robotic vehicle for monitoring in dangerous or hard-to-reach areas, for continuous surveillance of large industrial objects, in military purposes. The main problems in this area are navigation and control of vehicle. The majority of articles are dedicated to problems of motion control of wheeled mobile robots with two or three wheels [1-2]. As to four-wheeled mobile robots its kinematics and dynamics are considered in [3].

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Motion Control System and Control Algorithm of 3-Axes Platform Based on Controller Area Network

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.532.196 ◽

2014 ◽

Vol 532 ◽

pp. 196-199

Author(s):

Cheng Long Zhou ◽

Xing Song Wang ◽

Yu Liang Mao

Keyword(s):

Control System ◽

Motion Control ◽

Control Algorithm ◽

Controller Area Network ◽

Numerical Control ◽

Area Network ◽

Motion Controller ◽

Motion Control System ◽

And Control ◽

Control Machine

3-axes motion is broadly used in industry numerical control machine. Many motion controller we use are usually limited by the number of interface it consist. But the kind of motion controller based on CAN (Controller Area Network ) can solve this problem properly. We can add a controller of one axe conveniently. I use a Advantech CAN motion controller to build the motion control system.

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Path Planning and Control for Multiple AGVs Based on Improved Two-Stage Traffic Scheduling

International Journal of Automation Technology ◽

10.20965/ijat.2009.p0157 ◽

2009 ◽

Vol 3 (2) ◽

pp. 157-164 ◽

Cited By ~ 4

Author(s):

Lou Peihuang ◽

◽

Wu Xing ◽

Wang Jiarong

Keyword(s):

Path Planning ◽

Motion Control ◽

Control Algorithm ◽

Scheduling Algorithm ◽

Path Following ◽

Traffic Scheduling ◽

Two Stage ◽

Planning And Control ◽

Adaptive Motion ◽

And Control

An improved two-stage traffic scheduling algorithm for path planning and conflict avoidance of multiple AGVs (Automated Guided Vehicle) is combined with an adaptive motion control algorithm for path following of a single AGV in this paper, in order to implement an integrated planning and control system. A genetic algorithm (GA) is used for feasible path planning both offline and online. Multiple objectives and constraints are added to the online GA when some digital map routes cannot be used due to unavoidable conflict. The conflict-free policy we propose changes the speed or route of the AGV with a lower priority to make the conflict settled. Adaptive motion control enables individual AGV to follow the planned paths at any given speed. The planned paths and given speed are the information links connecting traffic scheduling and motion control. Numerical simulation confirms the effectiveness of our traffic scheduling algorithm and the adaptability of the motion control algorithm.

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Nonlinear model predictive control of spacecraft relative motion

Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering ◽

10.1177/0954410018807613 ◽

2018 ◽

Vol 233 (11) ◽

pp. 3906-3919 ◽

Cited By ~ 1

Author(s):

Piotr A Felisiak ◽

Krzysztof S Sibilski ◽

Kaiyu Qin ◽

Gun Li ◽

Wiesław A Wróblewski

Keyword(s):

Model Predictive Control ◽

Motion Control ◽

Predictive Control ◽

Relative Motion ◽

Control Algorithm ◽

Optimization Problem ◽

Control Method ◽

Nonlinear Model Predictive Control ◽

Model Predictive Control Algorithm ◽

Control Trajectory

This investigation deals with the problem of spacecraft relative motion control, which is typically associated with the spacecraft rendezvous and proximity maneuvers. Relative position and linear velocity are considered. A distinguishing attribute of the presented approach is consideration of definitely larger relative distance between the satellites than it is commonly addressed in the literature. The presented control method is applicable in the case where the chief satellite moves in a known, highly elliptical orbit. A quasi-optimal control is found by a model predictive control algorithm, where the nonlinear optimization problem is reduced to quadratic optimization by preliminary estimation of the future control trajectory. Significance of the method has been verified using a computer simulation.

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Decentralized Motion Control of Dual Manipulators in Coordination Using Vision and Force Sensors

Journal of Robotics and Mechatronics ◽

10.20965/jrm.1996.p0435 ◽

1996 ◽

Vol 8 (5) ◽

pp. 435-441

Author(s):

Kazuhiro Kosuge ◽

◽

Daiji Taguchi ◽

Koji Takeo ◽

Keyword(s):

Motion Control ◽

Relative Motion ◽

Control Algorithm ◽

Force Sensor ◽

Experimental Results ◽

Force Sensors ◽

Vision Sensor ◽

Single Object ◽

Coordinated Motion ◽

Assembly Task

A coordinated motion control algorithm for manipulators using vision and force sensors is proposed in this paper, by which each manipulator is controlled by its own controller in a decentralized way. We consider both manipulation of a single object and assembly of two parts by dual manipulators in coordination. When both manipulators are manipulating a single object in coordination, the desired motion of the manipulated object is given to one of the arms referred to as the leader and other manipulator referred to as the follower estimates the desired motion given to the leader, based on the information from its own force sensor, and manipulates the object in coordination with the leader. An task assembling two parts is described by the motion of a part handled by the leader and the relative motion between the parts given to the follower. The relative motion is observed and controlled by a vision sensor attached to the follower and the assembly task is executed independently of the motion of the leader. Experimental results illustrate the proposed scheme.

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