Design and Modeling of Three Joint Mechanical Arm Based on the Free Floating Space Robot Project

2014 ◽  
Vol 621 ◽  
pp. 533-539
Author(s):  
Xi Zhang ◽  
Da Qi Wu
Keyword(s):  
Robot Control ◽  
Control Method ◽  
Space Exploration ◽  
Structure Design ◽  
Space Robot ◽  
Practical Significance ◽  
Main Research ◽  
Research Level ◽  
Exploration Mission ◽  
And Control

The frequence and complex of space exploration activeities makes the life of the spacecraft and on-orbit service technologies becoming research hotspot in recent years. But the limitation of non-renewable fuels makes exploration mission costly and maintenance difficult, so the free floating space robot has its unique advantages. Because the research level and control technology is not maturity, study on the free floating space robot control method is the key theory and technology which is the difficulty that our country now needs to overcome, also, the research is of great theoretical and practical significance. This paper introduct an experiment scara mechanical arm based on the free floating space robot project. Main research contents of this paper include the mechanical structure design, and combining with the characteristic of the free floating mechanical arm , it makes kinematics and dynamics modals of the mechanical arm system, additional, it conduct statics test and dynamic modal analysis, which is to make sure that the mechanical arm could satisfy needs and to study its dynamic characteristics.This topic focus on structure design and mathematical modeling of the mechanical arm, it makes the research of control method and trajectory planning no longer stay on the paper, and makes the research more authenticity and accuracy.

Study and Implement on Key Technologies of Ship-Welding Mobile Robot

2010 ◽  
Vol 44-47 ◽  
pp. 321-325
Author(s):  
Liang Hua ◽  
Lin Lin Lv ◽  
Ju Ping Gu ◽  
Yu Jian Qiang
Keyword(s):  
Mobile Robot ◽  
Control Method ◽  
Structure Design ◽  
Seam Tracking ◽  
Precision Positioning ◽  
Positioning Control ◽  
Controlling System ◽  
Welding Torch ◽  
Driven System ◽  
And Control

The key technilogies of ship-welding mobile robot applied to ship-building in plane block production line were researched and realized. The mechanical structure design of the robot was completed. The motion-controlling system of of two-wheel differential driving mobile robot was developed. A novel precision positioning control method of welding torch using ultrasonic motors was putforward. The mechanism and control-driven system of precision positioning system for welding torch were completed. The platform of obstacle avoidance navigation system was designed and the strategies of seam tracking, trajectory and posture adjustment were preliminary studied. The methods and results put forward in the paper could act as the base of deep research on the theories and technologies of ship-welding mobile robot.

Dynamics and control of a 6-DOF space robot with flexible panels

2016 ◽  
Vol 231 (6) ◽  
pp. 1022-1034 ◽  
Author(s):  
Yu Zhang-Wei ◽  
Liu Xiao-Feng ◽  
Li Hai-Quan ◽  
Cai Guo-Ping
Keyword(s):  
Dynamic Model ◽  
Control Method ◽  
Torque Control ◽  
Space Robot ◽  
Velocity Variation ◽  
Variation Principle ◽  
Dynamics Modeling ◽  
Dynamics And Control ◽  
Flexible Panels ◽  
And Control

With the development of space exploration, researches on space robot will cause more attentions. However, most existing researches about dynamics and control of space robot concern planar problem, and the effect of flexible panel on dynamics of the system is not considered. In this article, dynamics modeling and active control of a 6-DOF space robot with flexible panels are investigated. Dynamic model of the system is established based on the Jourdain's velocity variation principle and the single direction recursive construction method. The computed torque control method is used to design point-to-point active controller of the space robot. The validity of the dynamic model is verified through the comparison with ADAMS software; the effects of panel flexibility on the system performance and the active controller design are studied in detail. Simulation results indicate that the proposed model is effective to describe the dynamics of space robot; panel flexibility has large influence on the dynamic behavior of space robot; the designed controller can effectively make the robot reach a specified position and the elastic vibration of the panels may be suppressed simultaneously.

Bionic Methods for Quadruped Robot Design and Control

2013 ◽  
Vol 461 ◽  
pp. 869-876
Author(s):  
Run Bin Cai ◽  
Qing Wei ◽  
Hong Xu Ma
Keyword(s):  
Robot Control ◽  
Control Method ◽  
Step Length ◽  
Quadruped Robot ◽  
Control Architecture ◽  
German Shepherd ◽  
Trot Gait ◽  
Nerve System ◽  
And Control ◽  
Support Phase

Bionics has greatly improved the development of quadruped robot, in the paper we propose three bionic methods for the quadruped robot. These methods have been used for control method design, gait design and control architecture design. The quadruped robot control method has been divided into two parts, because the four-legged animals change their trot speed by adjustment of step length in swing phase and maintain their balance in support phase; control architecture is derived from the four-legged animals nerve system; gait of quadruped robot is based on event driven, and its trot gait is the same as German shepherd. Simulations and experiments are performed, which prove bionics design to be realizable for the quadruped robot.

scholarly journals PHILOSOPHICAL IDEAS OF STOICISM - THE THEORETICAL BASIS OF MODERN COGNITIVE-BEHAVIORAL THERAPY

2021 ◽  
pp. 59-67
Author(s):  
Андрей Сергеевич Некрасов ◽  
Нина Андреевна Некрасова ◽  
Сергей Иванович Некрасов ◽  
Ирина Анатольевна Жаворонкова
Keyword(s):  
Cognitive Behavioral Therapy ◽  
Behavioral Therapy ◽  
Cognitive Behavioral ◽  
Practical Significance ◽  
Short Term ◽  
Main Research ◽  
Therapeutic Value ◽  
Academic Philosophy ◽  
Life Philosophy ◽  
And Control

Целью статьи является анализ философских учений стоиков, основные установки которых сегодня плодотворно используются в методиках когнитивно-поведенческой терапии. Главным методом исследования является анализ практически ориентированной философии стоиков, учение которых обладает терапевтической ценностью, являясь средством воздействия не столько на диагностику психологических нарушений, сколько на тех, кто постоянно хочет научиться управлять своими умственными представлениями, целенаправленно изменяя своё поведение в течение всей жизни. Результатами исследования является сравнительный анализ основных положений учения стоиков и методов современной когнитивно-сравнительной терапии. Заслуга авторов статьи состоит в доказательстве, что когнитивно-поведенческая терапия фокусируется на кратковременные цели, которые определяются диагнозом и ограничены во времени, в то время как жизненная философия стоицизма способна вносить глубины и безвременные изменения в образ жизни и мировоззрение человека. Теоретическая и практическая значимость статьи заключается в доказательстве, что философия стоиков, которую сегодня рассматривают в качестве западной разновидности буддизма и альтернативы современной академической философии, - это практически ориентированная философия, целью которой является обоснование мудрости как этического идеала и возможности реализовать потенциально заложенную в каждого человека способность сформировать личную жизненную установку справляться с любой жизненной ситуацией средствами своего разума и управления эмоциями. Авторам удалось углубить предложенную проблематику, что может быть использовано для дальнейшего теоретического анализа и применяться для практической работы. The purpose of the article is to analyze the philosophical teachings of the Stoics, the main attitudes of which are today fruitfully used in the methods of cognitive-behavioral therapy. The main research method is the analysis of the practically oriented philosophy of the Stoics, whose teachings have a therapeutic value, being a means of influencing not so much on the diagnosis of psychological disorders, but on those who constantly want to learn how to control their mental representations, purposefully changing their behavior throughout their lives. The results of the study are a comparative analysis of the main provisions of the teachings of the Stoics and the methods of modern cognitive-comparative therapy. The principle achievement of the article consists in the proof that cognitive-behavioral therapy focuses on short-term goals that are determined by diagnosis and limited in time, while the life philosophy of Stoicism is capable of introducing depth and timeless changes in a person's lifestyle and worldview. The theoretical and practical significance of the article lies in the proof that the philosophy of the Stoics, which today is considered as a Western variety of Buddhism and an alternative to contemporary academic philosophy, is a practically oriented philosophy, the purpose of which is to substantiate wisdom as an ethical ideal and the possibility of realizing the potential inherent in each person to form a personal life attitude to cope with any life situation by means of his mind and control of emotions. The authors managed to deepen the proposed problems thus making possible to use the conclusions of its study for further theoretical analysis and practical purposes.

scholarly journals Decentralized control of level-shifted carrier-based pwm for modular multilevel interlinking converter in hybrid microgrid

2021 ◽  
Vol 4 (2) ◽  
pp. first
Author(s):  
Quốc Dũng Phan ◽  
Phu Cong NGUYEN ◽  
Phuoc Hoa TRUONG ◽  
Dinh Tuyen NGUYEN ◽  
Duc Hung NGUYEN ◽  
...  
Keyword(s):  
Decentralized Control ◽  
Control Method ◽  
Level Shift ◽  
Main Research ◽  
Hybrid Microgrid ◽  
Shift Control ◽  
Power Exchange ◽  
Exchange Control ◽  
And Control ◽  
Positive Results

The interlinking converters is one of the important components in the hybrid mirogrid system, the study of structure and control method of the interlinking converters in hybrid mirogrid has been implemented and achieved positive results. This paper proposes an improved decentralized control of level-shifted carrier-based PWM for a modular multilevel interlinking converter (IC-MMC) in standalone hybrid microgrid (HMG-Hybrid Microgrid). Main research objectives is to study the capability of the decentralized control method proposed for the IC-MMC unit when performing the power exchange control task between the DC and AC bus in the HMG system, increased flexibility in controls. Furthermore, the proposed control method for IC-MMC for HMG is also verified in term of dynamically reconfiguration when changing the number of modules in the MMC when the improve of system reliability is needed. The feasibility of the carrier level shift control method for IC-MMC in HMG has been verified by simulation model on MATLAB/Simulink software to evaluate the ability to exchange power between the DC bus and the AC bus.

scholarly journals A SPACE ROBOT CONTROL AT VISUAL MONITORING THE STATE OF A GEOSTATIONARY SATELLITE

2020 ◽  
Vol 22 (5) ◽  
pp. 79-83
Author(s):  
Ye.I. Somov ◽  
◽  
S.A. Butyrin ◽  
T.Ye. Somova ◽  
◽  
...  
Keyword(s):  
Motion Control ◽  
Robot Control ◽  
The State ◽  
Numerical Results ◽  
Geostationary Satellite ◽  
Space Robot ◽  
Control Algorithms ◽  
Visual Monitoring ◽  
Guidance And Control ◽  
And Control

Methods for guidance and motion control of a space robot during a flyby of a geostationary satellite at a visual monitoring its technical state are considered. Numerical results are presented that demonstrate the effectiveness of the developed discrete guidance and control algorithms.

Dynamic Coupling and Control of Flexible Space Robots

2020 ◽  
Vol 20 (09) ◽  
pp. 2050103
Author(s):  
Yanfeng Du ◽  
Cong Wang
Keyword(s):  
Dynamic Model ◽  
Control Method ◽  
Coupling Effect ◽  
Space Robot ◽  
Flexible Manipulator ◽  
Flexible Manipulators ◽  
Dynamic Coupling ◽  
Input Shaper ◽  
Flexible Panels ◽  
And Control

The dynamic modeling and coupling effect of a space robot are complex when the flexible manipulator and solar panels are considered. This paper investigates the dynamic coupling effect and control of a flexible space robot with flexible manipulators and flexible panels. The equations of motion are derived for the robot model both of the rigid-flexible type and flexible-flexible type. The flexible space robot dynamic model is verified by comparison with the results generated by the ADAMS software, for which good agreement has been obtained. The dynamic coupling matrix of the flexible space robot is derived based on the dynamic model. The effects of the central rigid body mass and the joints angle on the dynamic coupling are analyzed. A control method is proposed to manipulate the flexible space robot based on the system dynamic model. The multiple-impulse robust (MIR) input shaper is used to suppress the vibration of flexible structures in the proposed controller. Appropriate design parameter and frequency scaling factor are selected for the MIR input shaper to suppress the flexible vibration. The flexible space robot control is conducted to illustrate the effect of the proposed controller. It is shown that the proposed control method can realize the desired joints manipulation, while suppressing the vibration of the flexible manipulators and flexible panels.

scholarly journals Design and Analysis of the Rolling and Jumping Compound Motion Robot

2021 ◽  
Vol 11 (22) ◽  
pp. 10667
Author(s):  
Huaisong Wu ◽  
Bingyang Li ◽  
Futao Wang ◽  
Bin Luo ◽  
Zhiwei Jiao ◽  
...  
Keyword(s):  
Space Exploration ◽  
Single Mode ◽  
Structure Design ◽  
Space Robot ◽  
Deep Space ◽  
Space Robots ◽  
Deep Space Exploration ◽  
Kinematic Characteristics ◽  
Motion Modes ◽  
The Future

Complex and unknown areas in deep space exploration present major challenges to the motion ability of current space robots. Different from the traditional single-mode motion space robot, a compound motion robot with flexible movement and strong obstacle surmounting ability is proposed. Through the highly integrated structure design, the lightweight robot has the ability of rolling and jumping, and the kinematic characteristics of the robot under two motion modes are analyzed. This work provides a reference for the design of deep space exploration equipment with high motion capability in the future.

scholarly journals Design and Control of a Novel Single Leg Structure of Electrically Driven Quadruped Robot

2020 ◽  
Vol 2020 ◽  
pp. 1-12 ◽  
Author(s):  
Mingfang Chen ◽  
Hao Chen ◽  
Xuejun Wang ◽  
JiangXuan Yu ◽  
YongXia Zhang
Keyword(s):  
Control Method ◽  
Good Control ◽  
Quadruped Robot ◽  
Structure Design ◽  
The Body ◽  
Interpolation Algorithm ◽  
Control Effect ◽  
Simulation And Experiment ◽  
Control Principle ◽  
And Control

In order to solve the defects of the large inertia and control difficulty of the electrically driven quadruped legs of robots, a novel leg structure and a control method are proposed in this paper. In terms of structure, the motor of the knee is arranged in the body of the robot to reduce the weight of the legs. In addition, this paper improves the PVT difference control algorithm embedded in the PMAC controller. Using the nonlinear control principle of the U-model, the optimized segmented Hermite difference method is used to implement the planning of the foot trajectory of the quadruped robot. Simulation and experiment show that the leg structure design is reasonable and the improved interpolation algorithm has good control effect.

Research on Control Method and the Structure Design of Asynchronous Modular Contactor

2014 ◽  
Vol 1008-1009 ◽  
pp. 501-504
Author(s):  
Ming Zong ◽  
Zheng Di Cao ◽  
Tian Yu Dong
Keyword(s):  
Structural Design ◽  
Closed Loop ◽  
Control Method ◽  
Low Voltage ◽  
Structure Design ◽  
Closed Loop Control ◽  
Electromagnetic System ◽  
Loop Control ◽  
And Control ◽  
Main Factor

Contactors as low-voltage electrical products are largely used, contact bounce when contactor closing and arc which produces during opening is the main factor influencing a contactor’s life. This paper proposed a new structure that asynchronous modular, N-pole contactors consist of N independent contact systems, achieved each contact individually controlled by closed-loop control. This is a new idea in the field of structural design and control of contactors. This paper designed the structure size of the electromagnetic system, used Simulink software to build the model, studied dynamic characteristics of the contacts, and obtained a new closed-loop control method at last. This new method can effectively eliminate contact bounce when the contact closing and the arc generated when breaking, and increases the service life of the contactor.

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