on adaptive fuzzy system, is employed for friction compensation and to drive the ... and the compensator, simple robust adaptive laws based on. Lyapunov ...
Computational Mechanics Codes. P.K. Jimack ... School of Computer Studies ... during the parallel, adaptive solution of various computational mechanics prob- ...... there is a trade-o between the quality of the nal partition and the amount of.
Tantangan aliran data besar membutuhkan mesin pembelajaran khusus. Ragam, variabilitas dan kompleksitas berkaitan dengan masalah pergeseran konsep ...
on Irregular Terrain by Using Neural System Model. H.Kimura ... the torque-based system consisting of a rhythm pat- ... Single N.O. consists of two mutu-.
Figure 1: Self-contained quadruped robot: Tekken2. The length of the body and a leg in standing are 30 [cm] and. 20 [cm]. The weight including batteries is 4.3 ...
a cable suspended robot to handle uncertainties in mass and moments of inertia of ... structure consists of lightweight and high load-bearing cables. On the other ...
A parallel adaptive mesh refinement algorithm has been incorporated into the ... limits the number of approaches for hexahedral mesh refinement and makes it ...
3 means that the desired angle is calculated on-line for the height from the toe to the hip joint to be constant. v [m/s]: the measured walking speed of Tekken.
Each leg of Tekken has a hip pitch joint, a hip yaw joint, a knee pitch ... 3. Implementation of neural system for adaptive walking. 3.1 Rhythmic motion by CPG.
In this paper, a new robust robot force tracking impedance control scheme that uses neural network as a compensator is proposed. The proposed neural com-.
May 7, 2011 - Department of Robotics and Mechatronics, AGH University of Science and ... registered in the Polish patent office and got a reference no.
sensors, the four-legged spider robot is able to monitor the environment ... network; walking gait; National Instruments (NI) LabVIEW .... For example, the first.
ers (which do not reuse the existing partition) and much more rapidly. Perhaps more importantly, the algorithm results in only a small fraction of the amount of ...
C. Walshaw, M. Cross, and M. G. Everett ... Here, in particular, we focus on the case arising from ... the method is also applicable to the more general case.
Abstract. Finite element simulations of dynamic fracture problems usually require very fine discretizations in the vicinity of the propagating stress waves and ...
Chapter four the algorithm is implemented for a 2-d adaptive nite element solver ... I would like to thank my supervisor Dr. Peter Jimack for his guidance and ... (who was a much needed and welcome addition to our family in the middle of this.
image below shows the original design from Clavel's U.S. patent. 2. , and the ... www.ohio.edu/people/williar4/html/pdf/DeltaKin.pdf, January 2016. 1 R. Clavel ...
IT University of Copenhagen and. Exformatics A/S. 2100 Copenhagen, Denmark [email protected]. AbstractâWe describe how the declarative Dynamic Condi-.
AbstractâIn spite of extensive research in the last decade, activity recognition still faces many challenges for real-world applications. On one hand, when ...
Keywords Mobile ad hoc networks · Adaptive multipath routing · Dynamic ... other nodes. Nodes are free to move and their batteries have .... expected bandwidth (BWmin), maximum percentage of data ... The framework monitors the current ...
May 22, 2018 - Biocatalytic Parallel Interconnected Dynamic Asymmetric. Disproportionation ...... install the stereochemistry with high precision in the final two ...
Next, analytics intelligence, as the necessary requirement, for the real reinforcement learning, is discussed. Finally, the principle of the parallel dynamic pro-.
A fusion methodology between these three controllers is elaborated such that .... to the signal issued from the sensor number n at the sample time k, provides the ... network, therefore, the use of plant emulator to calculate error at each time ...
Robot-assisted surgery is an active interdisciplinary field, which has ... parallel surgical robot for precise skull drilling in stereotactic neurosurgical operations. We.
Objective: The PRADA European ECHORD project focuses on complex manipulation and aims at reaching beyond today's performances for high speed parallel ...
PRADA: Parallel Robot with Adaptive Dynamic Accuracy Objective: The PRADA European ECHORD project focuses on complex manipulation and aims at reaching beyond today’s performances for high speed parallel robots in terms of: dynamic accuracy and adaptability to changes in operational conditions. Three partners were involved in this project. An academia partner, Lirmm, an academia to industry foundation which is Tecnalia, and an end-user which is Adept Technology. The developments have been made on the Par4 architecture, and validated on the industrial Quattro robot from Adept.
Task1: Modeling
Task2: Simulation of dynamic control Various implemented controllers Non redundant case
SIMULATIONS
Rigid platform
Redundant case
Articulated platform
1. 2. 3. 4.
Two study cases Non redundant
Redundantly actuated
PID joint controller PID cartesian control Inverse dynamic joint control Inverse dynamics cartesian control
1. 2. 3.
PID control in cartesian space Dual-space feedforward controller Dual-space adaptive controller
x Äd
Efficient Dynamic Model: complexicity/computing time compromise
x_ d
x ~_
+
+ Kd
-
Principle:
x ~
xd +
Total torque:
+
+ -
J ¡1 (q)
y
¿
M(q) +
q_
Robot
q
+
Kp
N(q; q) _ q_ + G(q)
_ q) J(q; _
x_
- arm gravity compensation
x
J(q)
F:K:
- motor axis viscous friction Application: pick and Place task
- equivalent nacelle mass
Dynamic accuracy evaluation with 200g payload uncertainty
- moment of inertia of arms
Task3: Calibration
Adaptive control: better accuracy No error variation vs payload conditions
Task4: control Implementation
• Kinematic Step 1 modeling
Step 2
Application: laser cutting task
• Measurements P31 Platform
METRIS K600 measurement system
• Optimization Step 3 procedure
P34 Platform
Case of Study: Adept Quattro
-750 -800 -850
sgn( q d )
Workspace cartography
mm
• Parameters Step 4 implementation
-900
qd
d dt
-950
Fv
Standard control : joint space PID joint space feedforwards
Fs
viscous friction
-1000 500 500
0 mm
• Precision Step 5 Evaluation
0 -500
-500
2
d dt 2
mm
d q
inner arm, gear and motor inertia Iq
Sensitivity analysis of P34 platform 0.06
Xd 0.05
I.K.
+ qd -
Δq
PID Control in the joint space PID
+
τ
qm
Error [m]
0.04
0.03
d2 dt 2
0.02
X d
Platform inertial effects Mn
+
J(q)T
Cartesian space feedforward control
w
0.01
55% Improvement of error with optimized parameters
weight of the platform 0
x1 y1 z1 x2 y2 z2 x3 y3 z3 l0
l1
l2
l3 L0 L1 L2 L3 alpha01
2
3beta0 1
2
3 offs0 1
2
3
h0 h1 h2 h3 d0 d1 d2 d3 H1 H2 d
Parameter name
Sensitivity Study Norm of the experimental error in each measured pose
46 % Faster than standard control (without feedforward control)
1 0.8 Einitiale = Xmetris- Xmapping
Errors
EXPERIMENTS
dry friction
0.6
E E
0.4
calibrated simu calibrated exp
=X
calibrated simu
=X
mapping
-X
metris
metris calibrated
Acknowledgments PRADA experimenters would like to thank ECHORD project funded by the European Commission (contract number 231143)
