A visual servoing tracking controller is proposed based on the sliding mode control theory in order to achieve strong robustness against parameter variations and external disturbances. A sliding plane with time delay ...A visual servoing tracking controller is proposed based on the sliding mode control theory in order to achieve strong robustness against parameter variations and external disturbances. A sliding plane with time delay compensation is presented by the pre-estimate of states. To reduce the chattering of the sliding mode controller, a modified exponential reaching law and hyperbolic tangent function are applied to the design of visual controller and robot joint controller. Simulation results show that the visual servoing control scheme is robust and has good tracking performance.展开更多
Using Xenon lamp lights to overcome the strong interference from the welding arc, a computer-based system is developed to sense and visualize the metal transfer in GMAW. This system combines through-the-arc sensing of...Using Xenon lamp lights to overcome the strong interference from the welding arc, a computer-based system is developed to sense and visualize the metal transfer in GMAW. This system combines through-the-arc sensing of the welding current and arc voltage with high speed imaging of the metal transfer. It can simultaneously display the metal transfer processes and waveforms of electrical welding parameters in real-time The metal transfer videos and waveforms of electrical welding parameters can be recorded. Metal transfers under various welding conditions have been investigated with the system developed.展开更多
As Asia’s lingerie & beachwear industry leaders,the 6th session of Shanghai Mode Lingerie aiming at creating the best international lingerie & beachwear pageant was held on October 19th-20th at the
基金supported by China Postdoctoral Science Founda-tion (No. 20080441093)Key Laboratory Foundation of Liaoning Province (No. 2008S088).
文摘A visual servoing tracking controller is proposed based on the sliding mode control theory in order to achieve strong robustness against parameter variations and external disturbances. A sliding plane with time delay compensation is presented by the pre-estimate of states. To reduce the chattering of the sliding mode controller, a modified exponential reaching law and hyperbolic tangent function are applied to the design of visual controller and robot joint controller. Simulation results show that the visual servoing control scheme is robust and has good tracking performance.
基金supported by the Opening Project Foundation of MOE Key Laboratory of Liquid Structure and Heredity of Materials and Natural Science foundation of Shandong Province(Grant NO.Y20002F24).
文摘Using Xenon lamp lights to overcome the strong interference from the welding arc, a computer-based system is developed to sense and visualize the metal transfer in GMAW. This system combines through-the-arc sensing of the welding current and arc voltage with high speed imaging of the metal transfer. It can simultaneously display the metal transfer processes and waveforms of electrical welding parameters in real-time The metal transfer videos and waveforms of electrical welding parameters can be recorded. Metal transfers under various welding conditions have been investigated with the system developed.
文摘As Asia’s lingerie & beachwear industry leaders,the 6th session of Shanghai Mode Lingerie aiming at creating the best international lingerie & beachwear pageant was held on October 19th-20th at the
