Kinematics Modeling and Simulation of Tracked Five DOF Mobile Manipulator

2012 ◽  
Vol 433-440 ◽  
pp. 4831-4836 ◽  
Author(s):  
Jian Jia Li ◽  
Xin Hua Zhao
Keyword(s):  
Modeling And Simulation ◽  
Motion Control ◽  
Dynamic Modeling ◽  
Mobile Manipulator ◽  
Motion Model ◽  
Input Output ◽  
Kinematics Simulation ◽  
Kinematics Modeling ◽  
Motion Characteristics ◽  
The Ideal

Based on the study of motion model for a tracked five DOF mobile manipulator in the ideal simulation, the motion characteristics are revealed. With system’s input-output relation be established from kinematics simulation, several basic rules are founded for dynamic modeling and motion control in the study of a tracked five DOF mobile manipulator.

Dynamic Modeling and Simulation of Stratospheric Airships

2012 ◽  
Vol 457-458 ◽  
pp. 237-244
Author(s):  
Guo Chang Hu ◽  
Mei Ping Wu
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Theoretical Basis ◽  
Simulation Method ◽  
Autonomous Control ◽  
Overall Design ◽  
Stratospheric Airship ◽  
Simulation Results ◽  
Motion Characteristics

Aiming at the requirements of autonomous control for stratospheric airships, based on description of the modeling plant and forces analysis in detail, the dynamic model is established by Newton Method. The motion characteristics of airships under control action are analyzed using simulation method. Simulation results indicate the correctness of dynamic model, and can make itself a theoretical basis for the overall design of the stratospheric airship.

Dynamics Modeling and Simulation of Tracked Five DOF Mobile Manipulator

2012 ◽  
Vol 433-440 ◽  
pp. 4817-4822 ◽  
Author(s):  
Jian Jia Li ◽  
Xin Hua Zhao
Keyword(s):  
Motion Control ◽  
Euler Method ◽  
Dynamical Analysis ◽  
Mobile Manipulator ◽  
Input Output ◽  
Dynamics Modeling ◽  
Dynamics Model ◽  
Motion System ◽  
Dynamical Simulation ◽  
Moving Platform

The dynamical analysis for the tracked moving platform and the manipulator are established based on by Newton-Euler method and Dynamics model is respectively obtained, Moreover, Dynamic simulation is conducted, and reveals the input-output relation for the motion system from dynamical simulation, and plays a solid basic for the further study of dynamic modeling and motion control.

Motion Simulation of Underwater Mooring Platform with Ocean Current

2013 ◽  
Vol 321-324 ◽  
pp. 815-818
Author(s):  
Fang Ze Zhao ◽  
Bao Wei Song ◽  
Xiao Xu Du
Keyword(s):  
Ocean Current ◽  
Mooring System ◽  
Motion Simulation ◽  
Motion Model ◽  
Motion Characteristics

Underwater mooring platforms which anchored by the anchor and cable have a certain function of the platform mooring at a certain depth. In this paper, the motion model of underwater mooring system was built through analyseing the motion characteristics of the cable geometry and the force of the cable. And the motion simulation of underwater mooring platform with ocean current was done. The results show that the motion of underwater mooring platform is stable.

Modeling and Simulation of a Wheelchair System with Motion Control

2021 ◽  
Author(s):  
Efgan Ugur ◽  
Tolgay Kara ◽  
Abdulhafez Abdulhafez
Keyword(s):  
Modeling And Simulation ◽  
Motion Control

Chaotic motion control of a vibro-impact system based on data-driven control method

2021 ◽  
pp. 107754632110433
Author(s):  
Xiao-juan Wei ◽  
Ning-zhou Li ◽  
Wang-cai Ding
Keyword(s):  
Motion Control ◽  
Data Model ◽  
Chaotic Motion ◽  
Control Method ◽  
Data Driven ◽  
Damping Coefficient ◽  
Input Output ◽  
Output Data ◽  
Controlled System ◽  
Impact System

For the chaotic motion control of a vibro-impact system with clearance, the parameter feedback chaos control strategy based on the data-driven control method is presented in this article. The pseudo-partial-derivative is estimated on-line by using the input/output data of the controlled system so that the compact form dynamic linearization (CFDL) data model of the controlled system can be established. And then, the chaos controller is designed based on the CFDL data model of the controlled system. And the distance between two adjacent points on the Poincaré section is used as the judgment basis to guide the controller to output a small perturbation to adjust the damping coefficient of the controlled system, so the chaotic motion can be controlled to a periodic motion by dynamically and slightly adjusting the damping coefficient of the controlled system. In this method, the design of the controller is independent of the order of the controlled system and the structure of the mathematical model. Only the input/output data of the controlled system can be used to complete the design of the controller. In the simulation experiment, the effectiveness and feasibility of the proposed control method in this article are verified by simulation results.

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