Description: 提出一种改进的遗传算法用于求解机械手运动学逆问题. 该算法采用实数编码, 其交叉概率和变异
概率根据解的适应度函数值自适应调整. 计算机仿真结果显示, 该算法较简单遗传算法(SGA) 求解精度高,
收敛速度快且稳定性能好.-An improved genetic algorithm for solving the inverse problem of manipulator kinematics. The algorithm uses real number encoding, the crossover probability and mutation probability according to the fitness function value of solution adaptive. Computer simulation results show that the algorithm is relatively simple genetic algorithm for (SGA) for solving high precision, fast convergence and stable performance is good. Platform: |
Size: 143360 |
Author:杨元龙 |
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Description: 提出了一种模型分块逼近的RBF网络自适应控制，将其用于机械臂的位姿控制，并用Matlab软件进行了仿真。-Proposed a model block of RBF network adaptive control approach, to pose for the manipulator control, and simulation using Matlab software. Platform: |
Size: 150528 |
Author:季胜蓝 |
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Description: Current debates regarding the possible cognitive implications
of ideas from adaptive behavior research and
dynamical systems theory would benefit greatly from a
careful study of simple model agents that exhibit
minimally cognitive behavior. This paper sketches one
such agent, and presents the results of preliminary experiments
on the evolution of dynamical neural
networks for visually-guided orientation, object discrimination
and accurate pointing with a simple
manipulator to objects appearing in its field of view Platform: |
Size: 97280 |
Author:sdfgdsfhdsf |
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Description: this the adaptive control of a two revolute joints manipulator simulink matlab-this is the adaptive control of a two revolute joints manipulator simulink matlab Platform: |
Size: 9216 |
Author:sam |
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Description: 为了在轨迹规划阶段提高月球车在三维地形中的轨迹规划精度，以被动关节式地形自适应月球车为研
究对象，融合关节机器人D-H 坐标建模方法构建月球车悬架运动学模型，结合数值求解方法，推导了任意崎岖
三维地形中月球车姿态估计模型。在模型估计基础上利用参数化控制原理，建立了满足约束条件下被动关节式
月球车在任意地形中的基于模型估计的一般性参数化轨迹生成模型。针对轮式月球车的非完整性特点，结合数
值求解方法，推导了非线性模型的求解方法。最后利用仿真方法，以八轮摇杆摇臂关节式月球车为例，验证了崎
岖地形中基于模型估计的轨迹生成方法的正确性，且可提高关节式月球车在崎岖地形中的规划精度-In order to improve precision of trajectory generation for rover on three dimensional rough terrain during trajectory
generation phase，based on the study of passive articulated rover and D-H kinematics model method of manipulator，this paper
presented the kinematics of the suspension frame． Using this complete suspension kinematics model and the numerical solving
method，it constructed the kinematical observer’s estimation of passive articulated rover on arbitrary rough terrain． On the basis
of this estimation of model，using principle of parameterized control，constructed an adaptive trajectory generation model for passive
articulated rover on arbitrary rough terrain which satisfied arbitrary constraints． According to nonholonomic characterization
of the model，presented the numerical solving method of this nonlinear model． To demonstrate this trajectory generation method，
presented an example about two torsion-bar rocker-bogie rover with eight wheels． Simulation results show that t Platform: |
Size: 750592 |
Author:cp |
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Description: This paper presents two kinds of adaptive control schemes for robot manipulator which has the parametric uncertainties. In order to compensate these uncertainties, we use the FLS (fuzzy logic system) that has the capability to approximate any nonlinear function over the compact input space. In the proposed control schemes, we need not derive the linear formulation of robot dynamic equation and tune the parameters. We also suggest the robust adaptive control laws in all proposed schemes for decreasing the effect of approximation error. To reduce the number of fuzzy rules of the FLS, we consider the properties of robot dynamics and the decomposition of the uncertainty function. The proposed controllers are robust not only to the structured uncertainty such as payload parameter, but also to the unstructured one such as friction model and disturbance. The validity of the control scheme is shown by computer simulations of a two-link planar robot manipulator. Platform: |
Size: 641024 |
Author:Diamant |
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Description: Abstract-This paper proposes an adaptive robust fuzzy controller for the tracking problem of a class of uncertain nonlinear MIMO systems. The control signal is comprised of two parts. One part is an adaptive fuzzy controller which approximates the system unknown functions using an interval type-2 fuzzy approximator.
The other part is an H∞ based controller that is applied to attenuate the effect of disturbance and approximation error.
Moreover, it is assumed that only output variables are measurable. Therefore, a state observer is carried out to estimate the system states. To illustrate the effectiveness and resilience behavior of the proposed controller, simulation results for a two DOF robotic manipulator are presented. Platform: |
Size: 514048 |
Author:Moufid |
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Description: 模型逼近的机械手网络的自适应滑模控制器程序位置指令子程序-Model of approximation of the manipulator adaptive sliding mode controller position instruction subroutine program Platform: |
Size: 1024 |
Author:洪乐乐 |
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Description: 基于局部逼近的自适应RBF控制，主要包括基于局部模型逼近的自适应RBF机械手控制。-Adaptive RBF control based on the local approach, including adaptive RBF manipulator control model based on the local approach.
Platform: |
Size: 43008 |
Author:hudizhiwa |
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Description: 该程序用于单力臂机械手直接自适应模糊控制，用于研究机器人的控制-The program is used for direct adaptive fuzzy control, single arm manipulator used to study the control of the robot Platform: |
Size: 6144 |
Author:曾小星 |
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Description: 该源程序用于研究单力臂机械手间接自适应模糊控制，提供源代码-The source program is used for the single arm manipulator indirect adaptive fuzzy control, to provide the source code Platform: |
Size: 7168 |
Author:曾小星 |
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Description: 本代码提供基于模糊补偿的机械手自适应模糊控制，用于机器人控制算法的仿真研究-This code provides the manipulator adaptive fuzzy control based on fuzzy compensation, and simulation research for robot control algorithms Platform: |
Size: 7168 |
Author:曾小星 |
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Description: 系统论述了滑模变结构控制的基本理论、基本方法和应用技术，并全部给出了MATLAB仿真分析。全书内容涵盖了滑模变结构控制发展综述、连续系统滑模控制、自适应鲁棒滑模控制、欠驱动系统滑模控制、反演及动态面滑模控制、基于滤波器及观测器的滑模控制、离散系统滑模控制、模糊滑模控制、神经滑模控制和机械手滑模控制等。-The basic theory, basic method and application technology of sliding mode variable structure control are discussed systematically, and all MATLAB simulation analysis is given. The book covers the development of sliding mode variable structure control, continuous system sliding mode control, adaptive robust sliding mode control, underactuated system sliding mode control, inversion and dynamic surface sliding mode control, based on the filter and observer sliding Mode control, sliding mode control of discrete systems, fuzzy sliding mode control, neural sliding mode control and manipulator sliding mode control. Platform: |
Size: 657408 |
Author:liushengqiang |
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Description: 包括5个资源，分别是：机械手滑模鲁棒控制示例，机器手自适应控制，机器人鲁棒PD控制，二自由度机械臂鲁棒轨迹跟踪控制，不确定性摩擦特性的不确定机械系统鲁棒补偿控制。
该资源对二自由度的机械臂仿真有极大的帮助！(It includes 5 resources, namely, manipulator sliding mode robust control example, robot hand adaptive control, robot robust PD control, two degree of freedom manipulator robust trajectory tracking control, uncertain friction characteristics of uncertain mechanical system robust compensation control.
The resource is of great help to the simulation of the two degree of freedom manipulator.) Platform: |
Size: 55296 |
Author:felix21 |
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