توجه: محتویات این صفحه به صورت خودکار پردازش شده و مقاله‌های نویسندگانی با تشابه اسمی، همگی در بخش یکسان نمایش داده می‌شوند.
۱Hybrid Robot Controller Based On Neural Network Compensator
نویسنده(ها): ، ،
اطلاعات انتشار: اولین کنگره مشترک سیستم های فازی و سیستم های هوشمند، سال
تعداد صفحات: ۶
In the framework of hybrid position \ froce control process, we used a perceptron network with the extended backpropagation learning algorithm to adjust the parameters of the network. The underlying control system, here a robot, represents a non–linear system with an uncertainty related to it. In the proposed method a perceptron network is used as an approximator for modeling uncertain parts of robot dynamic but we assumed there is known parts through
human knowledge and experience. Neural network parameter matrices are updated online with no initial offline training using the error as the objective function. The controller guarantees stability for any arbitrary initial values of neural network parameters and any unknown–but–bounded disturbances. Simulation is dealt with the hybrid control scheme in the Cartesian coordinates of the work space especially from the view point of tracking not only force but also position by citing an example of two degree of freedom robot.<\div>

۲Identifying singularities of a three–fingered robot hand
نویسنده(ها):
اطلاعات انتشار: ششمین کنفرانس ملی مهندسی ساخت و تولید، سال
تعداد صفحات: ۸
singularities are identified by caculating the determinant of jacobin matrix over the operating range of the gripper.the end –effector configuration becmes singular if the jacobin determinant is zero.the end–effector jacobin is dervied analytically based on either fingertip position or orientation.both of internal singularities and boundary singularities areidentified in a workspace of the robot hand the dextrous end –effector consisting of three articulated fingers placed symmetrically on a circular base. the articulated finger comprise three segments three active joints ten passive joints four solid control links and three independent inputs which results in three degrees of freedom for culing bending and rotation actions in the task space considering singularities and forward kinematic solutions over the operating range of the robot hand are carried out to find robot applications.<\div>
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