scholarly journals Dynamic Balance Control of Multi-Arm Free-Floating Space Robots

10.5772/5797 ◽  
2005 ◽  
Vol 2 (2) ◽  
pp. 13 ◽  
Author(s):  
Panfeng Huang ◽  
Yangsheng Xu ◽  
Bin Liang
Keyword(s):  
Control Method ◽  
Balance Control ◽  
Dynamic Balance ◽  
Space Robot ◽  
Simulation Studies ◽  
Active Object ◽  
Robot System ◽  
Close Proximity ◽  
Control Concept ◽  
The Given

This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation of space manipulator because of the dynamics coupling between the manipulator and space base. This dynamics coupling is unique characteristics of space robot system. Such a disturbance will produce a serious impact between the manipulator hand and the object. To ensure reliable and precise operation, we propose to develop a space robot system consisting of two arms, with one arm (mission arm) for accomplishing the capture mission, and the other one (balance arm) compensating for the disturbance of the base. We present the coordinated control concept for balance of the attitude of the base using the balance arm. The mission arm can move along the given trajectory to approach and capture the target with no considering the disturbance from the coupling of the base. We establish a relationship between the motion of two arm that can realize the zeros reaction to the base. The simulation studies verified the validity and efficiency of the proposed control method.

A Control Method for Load Balance between Upper and Lower Roll of Four-High Hot Rolling Mill

2014 ◽  
Vol 687-691 ◽  
pp. 167-170
Author(s):  
Li Ping Fan ◽  
Yi Liu
Keyword(s):  
Load Balance ◽  
Control Method ◽  
Balance Control ◽  
Good Control ◽  
Rolling Process ◽  
Control Effect ◽  
Good Product ◽  
Hot Rolling Mill ◽  
The Given ◽  
Good Product Quality

In the rolling process, the upper and lower working rolls of the mill usually under different load. In order to keep good product quality, load balance control is necessary. This paper proposes a control method which uses the torque difference between upper and lower roll to compensate the given current of the upper roll motor. Simulation results show that the proposed control method can give good control effect and keep load balance.

Dynamic balance control of two-wheeled self-balancing pendulum robot based on adaptive machine learning

2019 ◽  
Vol 18 (01) ◽  
pp. 1941002
Author(s):  
Qingwen Qian ◽  
Junfeng Wu ◽  
Zhe Wang
Keyword(s):  
Machine Learning ◽  
Numerical Calculation ◽  
Theoretical Analysis ◽  
Control Method ◽  
Balance Control ◽  
Dynamic Balance ◽  
Lateral Movement ◽  
Simulation Test ◽  
Root Cause ◽  
Dynamic Movement

To solve the problem of balance control in dynamic movement of two-wheeled self-balancing pendulum robot, a dynamic balance control method based on adaptive machine learning is proposed based on theoretical analysis of the cause of balance. Firstly, a kinematics model of two-wheeled self-balancing pendulum robot is established. Through numerical calculation and analysis, the root cause for dynamic balance of two-wheeled self-balancing pendulum robot is obtained. On this base, adaptive machine learnings are proposed to control the dynamic balance of two-wheeled self-balancing pendulum robot. The possible lateral movement of robot caused by dynamic balance control is analyzed. Finally, balance simulation test is conducted, which shows that the robot can easily lose balance and overturn without adaptive machine learning. The comparison of simulation test has verified that the proposed dynamic balance control method can effectively control the dynamic balance of two-wheeled self-balancing pendulum robot.

Compensating Learning Control for Free-Floating Space Robot System With Dual-Arms Using Genetic Algorithm in Joints Space

2009 ◽  
Author(s):  
Xiaoteng Tang ◽  
Li Chen
Keyword(s):  
Genetic Algorithm ◽  
Control Method ◽  
Dynamic Error ◽  
Learning Control ◽  
Space Robot ◽  
Robot System ◽  
Error Equation ◽  
Real Coded Genetic Algorithm ◽  
New Learning ◽  
Computed Torque

In this paper, the kinematics and dynamics of free-floating space robot system with dual-arms are analyzed. The closed-loop dynamic error equation considering uncertainties for the space robot is derived using the PD type computed torque method. A new learning control method using real coded genetic algorithm is presented to control the system and its controller structure is designed. A compensating learning control item is added to the error equation to approach the uncertainties by evolutionary learning. Then, the computed torque method and the GA learning control are combined to realize the perfect trajectory tracking. Simulation results show the efficiency of the control method.

Research on Dynamic Balance Method of Precision Centrifuge

2014 ◽  
Vol 945-949 ◽  
pp. 777-780
Author(s):  
Tao Liu ◽  
Yong Xu ◽  
Bo Yuan Mao
Keyword(s):  
Mathematical Model ◽  
Balance Control ◽  
Dynamic Balance ◽  
Dynamic Balancing ◽  
Structure Characteristics ◽  
Balance System ◽  
Simulation Results ◽  
Set Up ◽  
System Controller ◽  
The Mathematical Model

Firstly, according to the structure characteristics of precision centrifuge, the mathematical model of its dynamic balancing system was set up, and the dynamic balancing scheme of double test surfaces, double emendation surfaces were established. Then the dynamic balance system controller of precision centrifuge was designed. Simulation results show that the controller designed can completely meet the requirements of precision centrifuge dynamic balance control system.

scholarly journals Design of a Laparoscopic Robot System Based on Spherical Magnetic Field

2019 ◽  
Vol 9 (10) ◽  
pp. 2070
Author(s):  
Hongxing Wei ◽  
Kaichao Li ◽  
Dong Xu ◽  
Wenshuai Tan
Keyword(s):  
Magnetic Field ◽  
Control Method ◽  
Open Loop ◽  
Surgical Instruments ◽  
Prototype System ◽  
Single Incision Laparoscopic Surgery ◽  
Robot System ◽  
Surgical Incision ◽  
Spherical Motor ◽  
External Driving

In single incision laparoscopic surgery (SILS), because the laparoscope and other surgical instruments share the same incision, the interferences between them constrain the dexterity of surgical instruments and affect the field of views of the laparoscope. Inspired by the structure of the spherical motor and the driving method of an intraocular micro robot, a fully inserted laparoscopic robot system is proposed, which consists of an inner laparoscopic robot and external driving device. The position and orientation control of the inner laparoscopic robot are controlled by a magnetic field generated by the driving device outside the abdominal wall. The instrumental interferences can be alleviated and better visual feedback can be obtained by keeping the laparoscopic robot away from the surgical incision. To verify the feasibility of the proposed structure and explore its control method, a prototype system is designed and fabricated. The electromagnetism model and the mechanical model of the laparoscopic robot system are established. Finally, the translational, rotational, and deflection motion of the laparoscopic robot are demonstrated in practical experiment, and the accuracy of deflection motion of the laparoscopic robot is verified in open-loop condition.

Research on a New Type of Lithium Battery String Equalization and Management System

2011 ◽  
Vol 383-390 ◽  
pp. 1470-1476
Author(s):  
Hao Wang ◽  
Ding Guo Shao ◽  
Lu Xu
Keyword(s):  
Lithium Batteries ◽  
Management System ◽  
Lithium Battery ◽  
Large Scale ◽  
Control Method ◽  
Balance Control ◽  
Industrial Applications ◽  
Control Technique ◽  
New Type ◽  
Management Functions

Lithium battery has been employed widely in many industrial applications. Parameter mismatches between lithium batteries along a series string is the critical limits of the large-scale applications in high power situation. Maintaining equalization between batteries is the key technique in lithium batteries application. This paper summarizes normal equalization techniques and proposed a new type of lithium Battery Equalization and Management System (BEMS) employing the isolated DC-DC converter structure. The system is integrated both equalization functions and management functions by using distributed 3-level controlled structure and digital control technique. With this control method the flexibility of the balance control strategy and the compatibility for different battery strings are both improved dramatically. The experimental results show optimizing equalization, efficiency and the battery string life span has been extended.

Sign in / Sign up

Export Citation Format

Share Document