A New Approach to Manipulator Control: The Cerebellar Model Articulation Controller (CMAC)

1975 ◽  
Vol 97 (3) ◽  
pp. 220-227 ◽  
Author(s):  
J. S. Albus

CM AC is an adaptive system by which control functions for many degrees of freedom operating simultaneously can be computed by referring to a table rather than by mathematical solution of simultaneous equations. CM AC combines input commands and feedback variables into an input vector which is used to address a memory where the appropriate output variables are stored. Each address consists of a set of physical memory locations, the arithmetic sum of whose contents is the value of the stored variable. The CM AC memory addressing algorithm takes advantage of the continuous nature of the control function in a way which promises to make it possible to store the necessary data in a physical memory of practical size.

1975 ◽  
Vol 97 (3) ◽  
pp. 228-233 ◽  
Author(s):  
J. S. Albus

The storage of manipulator control functions in the CM AC memory is accomplished by an iterative process which, if the control function is sufficiently smooth, will converge. There are several different techniques for loading the CM AC memory depending on the amount of data which has already been stored and the degree of accuracy which is desired. The CM AC system lends itself to a “natural” partitioning of the control problem into manageable subproblems. At each level the CM AC controller translates commands from the next higher level into sequences of instructions to the next lower level. Data storage, or training, is accomplished first at the lowest level and must be completed, or nearly so, at each level before it can be initiated at the next higher level.


Mathematics ◽  
2021 ◽  
Vol 9 (13) ◽  
pp. 1468
Author(s):  
Luis Nagua ◽  
Carlos Relaño ◽  
Concepción A. Monje ◽  
Carlos Balaguer

A soft joint has been designed and modeled to perform as a robotic joint with 2 Degrees of Freedom (DOF) (inclination and orientation). The joint actuation is based on a Cable-Driven Parallel Mechanism (CDPM). To study its performance in more detail, a test platform has been developed using components that can be manufactured in a 3D printer using a flexible polymer. The mathematical model of the kinematics of the soft joint is developed, which includes a blocking mechanism and the morphology workspace. The model is validated using Finite Element Analysis (FEA) (CAD software). Experimental tests are performed to validate the inverse kinematic model and to show the potential use of the prototype in robotic platforms such as manipulators and humanoid robots.


2017 ◽  
Vol 23 (10) ◽  
pp. 1377-1388 ◽  
Author(s):  
Seyyed Abbas Mohammadi ◽  
Heinrich Voss

This paper proposes a new approach for computing the real eigenvalues of a multiple-degrees-of-freedom viscoelastic system in which we assume an exponentially decaying damping. The free-motion equations lead to a nonlinear eigenvalue problem. If the system matrices are symmetric, the eigenvalues allow for a variational characterization of maxmin type, and the eigenvalues and eigenvectors can be determined very efficiently by the safeguarded iteration, which converges quadratically and, for extreme eigenvalues, monotonically. Numerical methods demonstrate the performance and the reliability of the approach. The method succeeds where some current approaches, with restrictive physical assumptions, fail.


2012 ◽  
Vol 186 ◽  
pp. 46-49
Author(s):  
Corneliu Axente ◽  
Liviu Coşereanu ◽  
Daniel Ioan Suteu

The software algorithm is designed to ensure compatibility between the commands given by the operator and the need to stabilize the CCD/IR payload. The implementation was made on a mini-turret with 2 degrees of freedom mounted on a miniUAV. Appropriate command and control functions were developed by programming an Atmel family microcontroller.


2017 ◽  
Vol 1 (1) ◽  
Author(s):  
Fitri Yanti ◽  
Nunung Krisnawati

The background of this thesis is an increasing number of legislators Batam from Chinese citizens, at the 1999 elections, there were two people who passed to the DPRD Kota Batam, in the elections of 2004 increased to four Chinese citizens who become legislators Batam. It is not independent of their role during the sitting in the legislature as a representative of the people. This study aims to clarify the role of Chinese citizens who sat as a legislative member in Batam 1999-2009This research is a qualitative research, the historical method with the approach of political science. Steps historical research include: first heuristic, there are two sources of data are primary data and secondary data, primary data in this study is a member of the legislative representatives of the Chinese community, Chinese people, community leaders and members of the Commission, the secondary data taken from any books , newspapers and other documents, the authors do critique source consisting of external criticism and internal criticism, the three researchers to interpret, fourth historiography.The results in this study explained that the role of the Chinese community as a member of the legislature in Batam years 1999-2009, the first legislative function is set statutorily in the form of local regulations (Perda), the second control function or supervise the activities of local government in implementing legislation has been agreed , of these control functions legislators have the right to ask questions, interpellation, questionnaires and motions, the three other functions related to the budget or APBD that has been agreed with the local governments when the plenary session.  Keywords: legislative member, chinese societyLatar belakang penelitian ini adalah terjadinya peningkatan jumlah anggota DPRD Kota Batam dari warga Tionghoa, dimana pada pemilu tahun 1999 terdapat dua orang yang lolos menjadi anggota DPRD Kota Batam dan  pada pemilu tahun 2004 mengalami peningkatan menjadi empat orang. Hal ini tentunya tidak terlepas dari peran mereka selama duduk di legislatif sebagai wakil rakyat. Penelitian ini bertujuan untuk menjelaskan peran warga Tionghoa yang duduk menjadi anggota legislatif di Kota Batam tahun 1999-2009.Jenis penelitian ini adalah penelitian kualitatif historis dengan pendekatan ilmu politik.Adapunlangkah-langkah penelitian historis meliputi: pertama heuristik, di dalamnya terdapat dua sumber data yaitu data primer dan data sekunder, data primer dalam penelitian ini adalah anggota legislatif dari perwakilan masyarakat Tionghoa, masyarakat keturunan Tionghoa, tokoh masyarakat dan anggota KPU, data sekunder diambil dari buku-buku, koran dan dokumen lainnya.Kedua, kritik sumber yang terdiri dari kritik ekstern dan kritik intern.Ketiga, interpretasi dan keempat, historiografi.Hasil dalam penelitian ini menjelaskan bahwa peranan warga Tionghoa sebagai anggota legislatif di Kota Batam tahun 1999-2009,  pertama fungsi legislasi yaitu mengatur undang-undang dalam bentuk peraturan daerah (Perda), kedua fungsi kontrol atau mengawasi kegiatan pemerintah daerah dalam menjalankan Perda yang telah disepakati, dari fungsi kontrol ini anggota DPRD memiliki hak untuk bertanya, interpelasi, angket dan mosi, ketiga fungsi lainnya yang berkaitan dengan anggaran atau APBD yang telah disepakati bersama pemerintah daerah saat sidang paripurna. Bermainnya peran-peran  tersebut dengan baik, semakin menambah nilai kepercayaan warga Tionghoa  memilih dari kalangan mereka untuk pemilu selanjutnya. Kata Kunci: anggota legislatif, masyarakat tionghoa, kota batam  


Author(s):  
Burasakorn Yoosooka ◽  
Vilas Wuwongse

This paper proposes a new approach to automatic retrieval and composition of Learning Objects (LOs) in an Adaptive Educational Hypermedia System (AEHS) using multidimensional learner characteristics to enhance learning effectiveness. The approach focuses on adaptive techniques in four components of AEHS: Learning Paths, LO Retrieval, LO Sequencing, and Examination Difficulty Levels. This approach has been designed to enable the adaptation of rules to become generic. Hence, the application to various domains is possible. The approach dynamically selects, sequences, and composes LOs into an individual learning package based on the use of domain ontology, learner profiles, and LO metadata. The Sharable Content Object Reference Model is employed to represent LO metadata and learning packages in order to support LO sharing. The IMS Learner Information Package Specification is used to represent learner profiles. A preliminary evaluation of the developed system indicates the system’s effectiveness in terms of learners’ satisfaction.


2016 ◽  
Vol 78 (5) ◽  
Author(s):  
Yuli Sun Hariyani ◽  
Indrarini Dyah Irawati ◽  
Danu Dwi S. ◽  
Mohammad Nuruzzamanirridha

Open Flow is a standard protocol for differentiating forward function and control functions to facilitate the management of big network of SDN. The research have been carried out before using the emulator SDN Mininet. However Mininet has many shortcomings, such as the performance of which is less than the maximum due to simulation. Then some researchers also use the Net-FPGA as device. This device is less suitable for small scale because the prices are quite expensive and programming is quite complicated. In this study, SDN implementation carried out using OpenvSwitch as forwarding function mounted on TP-Link that has modificated using openwrt as firmware and Raspberry Pi with Ryu SDN Controller as control functions. The result shows that routing static can be implemented on SDN Network which use Raspberry Pi with Ryu Controller as control function with average bandwith 536.0909 Mbits/sec and average uptime network is 10.45 second.


2009 ◽  
Vol 33 (2) ◽  
pp. 329-348 ◽  
Author(s):  
Sun Jing ◽  
Yao Yan-An

This paper proposes a novel concept of active balancer for reducing the input torque fluctuations of mechanisms. A differential gear train is used in this active balancer and one of its two input shafts is driven and controlled by a servomotor. From the structural point of view, it is designed as an independent device that can be assembled and disassembled easily; from the functional point of view, it can minimize the torque fluctuations in a variety of working conditions. At first, an exact control function of the servomotor that can totally eliminate the input torque fluctuations of the mechanism is gained by an analytical method; in what follows, an optimization approach is developed to select appropriate control functions for the servomotor to balance the input torque of the working mechanism with consideration of the servomotor’s own input torque minimization; finally, an integrated method is presented for optimizing both the control function of the servomotor and the structure parameters of the differential gear train. Two numerical examples are given to illustrate the design procedure and to show its feasibility.


2014 ◽  
Vol 555 ◽  
pp. 147-154 ◽  
Author(s):  
Tomasz Malinowski ◽  
Tadeusz Mikolajczyk ◽  
Adrian Olaru

The paper presents a model for the construction of an articulated manipulator with 3 degrees of freedom (DOF). It is made from lightweight metal. To drive was used the stepper motors. Manipulator control system was made using a ATMEGA16 microcontroller. The control software was elaborated in BASCOM. Manipulator were tested using a manually control by joystick and in automation mode using a data file in array form. Presented solution is useful for didactics. By using more powerful motors and more complicated design it can be used to implementation in industrial conditions.


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