Based on the character of the modular self-reconfigurable （MSR） robot, a novel homogeneous and lattice MSR robot, M-Cubes, was designed. Each module unit of the robot has 12 freedoms and is composed of six rotary jo...Based on the character of the modular self-reconfigurable （MSR） robot, a novel homogeneous and lattice MSR robot, M-Cubes, was designed. Each module unit of the robot has 12 freedoms and is composed of six rotary joints and one cubic link. An attached/detached mechanism was designed on the rotary joints. A novel space transmitting system was placed on the inner portion of the cubic link. A motor separately transmitted torque to the six joints which were distributed equally on six surfaces of the cubic link. The example of a basic motion for the module was demonstrated. The result shows that the robot is concise and compact in structure, highly efficient in transmission, credible in connecting, and simple in controlling. At the same time, a simulator is developed to graphically design the system configuration, the reconfiguration process and the motion of cluster modules. The character of local action for the cellular automata （CA） is utilized. Each module is simplified as a cell. The transition rules of the CA are developed to combine with the genetic algorithm （GA） and applied to each module to accomplish distributed control. Simulation proves that the method is effective and feasible.展开更多
A force control strategy for position controlled robotic manipulators is presented. On line force feedback data are employed to estimate the local shape of the unknown constraint. The estimated vectors are used to ge...A force control strategy for position controlled robotic manipulators is presented. On line force feedback data are employed to estimate the local shape of the unknown constraint. The estimated vectors are used to generate the virtual reference trajectory for the target impedance model that is driven by the force error to produce command position. By following the command position trajectory the robotic manipulator can follow the unknown constraint surface while keeping an acceptable force error in a manner depicted by the target impedance model. Computer simulation on a 3 linked planar manipulator and experimental studies on an Adept 3, an SCARA type robotic manipulator, are conducted to verify the force tracking capability of the proposed control strategy.展开更多
Accurate modeling and simulation of autonomous underwater vehicle （AUV） is essential for autonomous control and maneuverability research. In this paper, a mini AUV- ＂MAUV-Ⅱ＂ was researched and the nonlinear mathe...Accurate modeling and simulation of autonomous underwater vehicle （AUV） is essential for autonomous control and maneuverability research. In this paper, a mini AUV- ＂MAUV-Ⅱ＂ was researched and the nonlinear mathematic model of the AUV in spatial motion was derived based on momentum theorem. The forces acting on AUV were resolved to several modules which were expressed in matrix form. Based on the motion model and combined with virtual reality technology, a motion simulation system was constructed. Considering the characteristic of ＂MAUV-Ⅱ ＂, the heading control and depth control were simulated by adopting S-surface control method. A long distance traveling simulation experiment based on target planning was also done. The simulation results show that the ＂MAUV-Ⅱ＂ has good spatial maneuverability, and verify the feasibility and reliability of control software.展开更多
This paper considers the formatiomshape control of three agents in the plane. By adding an adaptive perturbation to any agent＇s movement direction, a novel control strategy is proposed. It is shown that the proposed ...This paper considers the formatiomshape control of three agents in the plane. By adding an adaptive perturbation to any agent＇s movement direction, a novel control strategy is proposed. It is shown that the proposed novel control law can not only guarantee the global asymptotical stability of the desired formation shape, but also ensure the collision avoidance of agents between each other. Simulation results are provided to illustrate the effectiveness of the control algorithm.展开更多
文摘Based on the character of the modular self-reconfigurable （MSR） robot, a novel homogeneous and lattice MSR robot, M-Cubes, was designed. Each module unit of the robot has 12 freedoms and is composed of six rotary joints and one cubic link. An attached/detached mechanism was designed on the rotary joints. A novel space transmitting system was placed on the inner portion of the cubic link. A motor separately transmitted torque to the six joints which were distributed equally on six surfaces of the cubic link. The example of a basic motion for the module was demonstrated. The result shows that the robot is concise and compact in structure, highly efficient in transmission, credible in connecting, and simple in controlling. At the same time, a simulator is developed to graphically design the system configuration, the reconfiguration process and the motion of cluster modules. The character of local action for the cellular automata （CA） is utilized. Each module is simplified as a cell. The transition rules of the CA are developed to combine with the genetic algorithm （GA） and applied to each module to accomplish distributed control. Simulation proves that the method is effective and feasible.
文摘A force control strategy for position controlled robotic manipulators is presented. On line force feedback data are employed to estimate the local shape of the unknown constraint. The estimated vectors are used to generate the virtual reference trajectory for the target impedance model that is driven by the force error to produce command position. By following the command position trajectory the robotic manipulator can follow the unknown constraint surface while keeping an acceptable force error in a manner depicted by the target impedance model. Computer simulation on a 3 linked planar manipulator and experimental studies on an Adept 3, an SCARA type robotic manipulator, are conducted to verify the force tracking capability of the proposed control strategy.
基金Supported by National Natural Science Foundation under Grant No.50879014
文摘Accurate modeling and simulation of autonomous underwater vehicle （AUV） is essential for autonomous control and maneuverability research. In this paper, a mini AUV- ＂MAUV-Ⅱ＂ was researched and the nonlinear mathematic model of the AUV in spatial motion was derived based on momentum theorem. The forces acting on AUV were resolved to several modules which were expressed in matrix form. Based on the motion model and combined with virtual reality technology, a motion simulation system was constructed. Considering the characteristic of ＂MAUV-Ⅱ ＂, the heading control and depth control were simulated by adopting S-surface control method. A long distance traveling simulation experiment based on target planning was also done. The simulation results show that the ＂MAUV-Ⅱ＂ has good spatial maneuverability, and verify the feasibility and reliability of control software.
基金supported by National Nature Science Foundation under Grant Nos.60974041,60934006Research Fund for the Doctoral Program of Higher Education of China under Grant No.20090092110021
文摘This paper considers the formatiomshape control of three agents in the plane. By adding an adaptive perturbation to any agent＇s movement direction, a novel control strategy is proposed. It is shown that the proposed novel control law can not only guarantee the global asymptotical stability of the desired formation shape, but also ensure the collision avoidance of agents between each other. Simulation results are provided to illustrate the effectiveness of the control algorithm.
