The PID Control Algorithm Based on MATLAB Simulation

MATLAB is a set of numerical calculation, symbolic operation, visual modeling, simulation and graphic processing and other functions in one of the very best graphical language. This paper briefly introduces the PID controller is widely used in the field of industry, and the theoretical foundation of the PID controller, and the continuous improvement of system performance index.

Position and Orientation Characteristic Equation for Topological Design of Robot Mechanisms

This paper presents the explicit mapping relations between topological structure and position and orientation characteristic (POC) of mechanism motion output. It deals with (1) the symbolic representation and the invariant property of the topological structure of the mechanism, (2) the matrix representation of POC of mechanism motion output, and (3) the POC equations of serial and parallel mechanisms and the corresponding symbolic operation rules. The symbolic operation involves simple mathematic tools and fewer operation rules and has clear geometrical meaning, so it is easy to use. The POC equations cannot only be used for structural analysis of the mechanism (such as determining POC of the relative motion between any two links of a mechanism and the rank of single-loop kinematic chain and calculating the full-cycle DOF of a mechanism, etc.) but can be used for structural synthesis of the mechanism as well (e.g., structural synthesis of the rank-degenerated serial mechanism, the over constrained single-loop mechanism, and the rank-degenerated parallel mechanism, etc.).

Position and Orientation Characteristic Equation for Topological Design of Parallel Mechanisms

This paper presents the explicit mapping relations between topological structure of parallel mechanism and position and orientation characteristic (in short, POC) of its motion output link. It deals with: (1) The symbolic representation and the invariant of topological structure of mechanism; (2) The matrix representation of POC of motion output link; (3) The POC equations of parallel mechanism and its symbolic operation rules. The symbolic operation involves simple mathematic tools and fewer operation rules, and has clear geometrical meaning. So, it is easy to use. The forward operation of the POC equations can be used for structural analysis; its inverse operation can be used for structural synthesis. The method proposed in this paper is totally different from the methods based on screw theory and based on displacement subgroup.

Position and Orientation Characteristic Equation for Topological Design of Serial Mechanisms

This paper presents the explicit mapping relations between topological structure of mechanism and position and orientation characteristic (abbreviated as POC hereafter) of its motion output link. It deals with: (1) The symbolic representation and the invariant of topological structure of mechanism; (2) The matrix representation of POC of mechanism motion output; (3) The POC equation of serial mechanism and its symbolic operation rules. The symbolic operation involves simple mathematic tools and fewer operation rules, and has clear geometrical meaning. So it is easy to use. The POC equation can be used for structural analysis and synthesis of serial and parallel mechanisms. The method proposed in this paper is totally different from the methods based on screw theory and based on displacement subgroup/sub-manifold.

A General Formula of Degree of Freedom for Parallel Mechanisms

In this paper, a general formula of degree of freedom (DOF) for parallel mechanisms has been presented which could provide the full-cycle DOF. The key parameters in the formula can be determined via the position and orientation characteristic equations and their symbolic operations of serial and parallel mechanisms proposed by author and the symbolic operation is simple. It is totally different from the methods based on screw theory and based on displacement subgroup. The formula has been used for selection of driving pairs and determination of idle pairs. The formula may also be used for determining the DOF of other multi-loop mechanisms besides parallel mechanisms.

Rank and Mobility of Single Loop Kinematic Chains

This paper presents a novel method for determining rank and mobility of single loop kinematic chains which is totally different from the methods based on screw theory and based on displacement subgroup. The rank of single loop kinematic chains can be determined via the position and orientation characteristic (in short, POC) equation and its symbolic operation of serial mechanism presented by authors. The symbolic operation of the POC equation is simpler and has clear geometrical meaning. The method for determining the rank of single loop kinematic chains can be used for calculating DOF of parallel mechanisms.

A General Formula of Degree-of-Freedom for Parallel Manipulators and Its Application

This paper presents a new DOF formula for mechanism Its main feature is that the calculation of mobility has a single value for a given mechanism without the set of constraint equations, each of parameters in the formula can be correctly determined by simple symbol operation. The formula shows the map relationship between DOF and topological structure of a mechanism. It is embodied in the following aspects: (1) Dimension type: so that topological structure of a mechanism can be represented by symbols. (2) Orientation and location characteristic matrix: so that rank of a mechanism can be calculated by symbolic operation. (3) Orientation and location characteristic equation of serial mechanism and its symbolic operation. (4) Orientation and location characteristic equation of parallel mechanism and its symbolic operation. (5) The DOF calculation based on orientation and location characteristic equations of serial and parallel mechanisms. The DOF formula presented in this paper has already been used for topological analysis and synthesis of parallel mechanisms and its advantages has been proven.