A novel three-module robot has been introduced. It can change its configuration to adapt to the uneven terrain and to improve its tipover stability. This three-module tracked robot has three kinds of symmetry configur...A novel three-module robot has been introduced. It can change its configuration to adapt to the uneven terrain and to improve its tipover stability. This three-module tracked robot has three kinds of symmetry configuration. They are line type, triangle type, and row type. After the factors and the countermeasures of mobile robot＇s tipover problem are analyzed, stability pyramid and tipover stabil-ity index are proposed to globally determinate the mobile robot＇s static stability and dynamic stability. The shape shifting robot is tested by this technique under the combined disturbance of pitch, roll and yaw in simulation. The simulation result shows that this technique is effective for the analysis of mobile robot＇s tipover stability, especially for the reconfigurable or shape shifting modular robot. Experiments on three symmetry configurations are made under unstructured environments. The environment experiment shows the same result as that of the simulation that the triangle type configuration has the best stability. Both simulation and experiment provide a valid reference for the reconfigurable robot＇s potential application.展开更多
针对德国WALDR ICH COBURG公司的SINUMER IL 8M数控龙门铣的控制系统及电气控制柜,提出了用西门子CNC控制交流伺服进给系统进行改造的方案。利用定子电流的滞环宽度模糊控制,及模糊神经元自适应加权PID直流电流控制方法。从功能上实现...针对德国WALDR ICH COBURG公司的SINUMER IL 8M数控龙门铣的控制系统及电气控制柜,提出了用西门子CNC控制交流伺服进给系统进行改造的方案。利用定子电流的滞环宽度模糊控制,及模糊神经元自适应加权PID直流电流控制方法。从功能上实现速度、力矩同步功能;附件头自动交换;制作用户画面,以方便附件头的更换及故障处理。完成了电气驱动系统的改造,也满足了实时性的要求。在此基础上进行的仿真及实验表明所设计的智能控制系统具有良好的控制性能。展开更多
基金This project is supported by National Hi-Tech Research and Development Program of China(863 Program, No.2001AA422360) Chinese Academy of Sciences Advanced Manufacturing Technology R&D Base Foundation, Chrna(No.F000112).
文摘A novel three-module robot has been introduced. It can change its configuration to adapt to the uneven terrain and to improve its tipover stability. This three-module tracked robot has three kinds of symmetry configuration. They are line type, triangle type, and row type. After the factors and the countermeasures of mobile robot＇s tipover problem are analyzed, stability pyramid and tipover stabil-ity index are proposed to globally determinate the mobile robot＇s static stability and dynamic stability. The shape shifting robot is tested by this technique under the combined disturbance of pitch, roll and yaw in simulation. The simulation result shows that this technique is effective for the analysis of mobile robot＇s tipover stability, especially for the reconfigurable or shape shifting modular robot. Experiments on three symmetry configurations are made under unstructured environments. The environment experiment shows the same result as that of the simulation that the triangle type configuration has the best stability. Both simulation and experiment provide a valid reference for the reconfigurable robot＇s potential application.
文摘针对德国WALDR ICH COBURG公司的SINUMER IL 8M数控龙门铣的控制系统及电气控制柜,提出了用西门子CNC控制交流伺服进给系统进行改造的方案。利用定子电流的滞环宽度模糊控制,及模糊神经元自适应加权PID直流电流控制方法。从功能上实现速度、力矩同步功能;附件头自动交换;制作用户画面,以方便附件头的更换及故障处理。完成了电气驱动系统的改造,也满足了实时性的要求。在此基础上进行的仿真及实验表明所设计的智能控制系统具有良好的控制性能。
