Robust motion control design for dual-axis motion platform using evolutionary algorithm
نویسندگان
چکیده
منابع مشابه
Robust Hybrid Motion Force Control Algorithm for Robot Manipulators
In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...
متن کاملOptimal Robust Motion Controller Design Using Multiobjective Genetic Algorithm
This paper describes the use of a multiobjective genetic algorithm for robust motion controller design. Motion controller structure is based on a disturbance observer in an RIC framework. The RIC approach is presented in the form with internal and external feedback loops, in which an internal disturbance rejection controller and an external performance controller must be synthesised. This paper...
متن کاملVisually Induced Motion Sickness during Single and Dual Axis Motion
The majority of studies into visually induced motion sickness (VIMS) either use complex motion scenarios or are limited to single-axis motion. This study compared VIMS during singleand dual-axis motion. Twelve participants were exposed to (i) oscillating roll motion, (ii) linear motion in the anterior-posterior axis, and (iii) spiral motion, i.e. the summed direction of both of these flow vecto...
متن کاملMotion Protection System Design for a Parallel Motion Platform
A motion protection system is designed for a parallel motion platform with subsided cabin. Due to its complex structure, parallel mechanism is easy to encounter interference problems including link length limits, joints limits and self-collision. Thus a virtual spring algorithm in operational space is developed for the motion protection system to avoid potential damages caused by interference. ...
متن کاملEvolutionary Motion Synthesis for a Modular Robot Using Genetic Algorithm
An evolutionary motion synthesis method using genetic algorithm (GA) is presented for selfreconfigurable modular robot M-TRAN designed to realize various robotic motions and threedimensional structures. The proposed method is characterized by its capacity to derive feasible solutions for complex synthesis problem of M-TRAN through natural genetic representation. For this purpose, the behavior o...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Sadhana
سال: 2008
ISSN: 0256-2499,0973-7677
DOI: 10.1007/s12046-008-0035-0