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Adaptive robust neural control of a two-manipulator system holding a rigid object with inaccurate base frame parameters Research

Fan XU, Jin WANG, Guo-dong LU

Frontiers of Information Technology & Electronic Engineering 2018, Volume 19, Issue 11,   Pages 1316-1327 doi: 10.1631/FITEE.1601707

Abstract: permits accurate online calibration of the relative translational base frame parameters of the involved manipulators

Keywords： Cooperative manipulators     Neural networks     Inaccurate translational base frame     Adaptive control     Robust    

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Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion

Po-Chih LEE, Jyh-Jone LEE

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 163-187 doi: 10.1007/s11465-012-0324-5

Abstract:

This paper presents the analysis of three parallel manipulators with Schoenflies-motion.The three isoconstrained parallel manipulators have the structures denoted as CuuUwHw-//-CvvUwHw

Keywords： parallel manipulator     schoenflies motion     kinematics     singularity     workspace     performance index    

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Tracking control of robot manipulators via output feedback linearization

FEI Yue-nong, Wu Qing-hua

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3,   Pages 329-335 doi: 10.1007/s11465-006-0034-y

Abstract: This paper presents a robot manipulator tracking controller based on output feedback linearization. A sliding mode perturbation observer (SPO) is designed to estimate unmeasurable states and system perturbations that involve system nonlinearities, disturbances and unmodelled dynamics. The use of SPO allows to input/output linearize and decouple the strongly coupled nonlinear robot manipulator system merely by the feedback of joint angles. The controller design does not need an accurate model of the robot manipulator. Simulation studies are undertaken based on a two-link robot manipulator to evaluate the proposed approach. The simulation results show that the proposed controller has more superior tracking control performance, with payload changing in a wide range, in comparison with a sliding mode controller (SMC) designed based on state feedback linearization with full states available.

Keywords： available     comparison     unmeasurable     nonlinear     perturbation observer    

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Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

LIU Hongyi, WANG Fei, WANG Lei

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 168-174 doi: 10.1007/s11465-007-0028-4

Abstract: To precisely implement the force control of robot manipulators in an unknown environment, a control strategy

Keywords： predictive     tracking     corresponding     stiffness     algorithm    

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Enhancing the terrain adaptability of a multirobot cooperative transportation system via novel connectorsand optimized cooperative strategies

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0754-2

Abstract: Given limited terrain adaptability, most existing multirobot cooperative transportation systems (MRCTSs

Keywords： multirobot system     cooperative transportation     terrain adaptability     trajectory tracking     collaborative    

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Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 1,   Pages 110-115 doi: 10.1007/s11465-007-0019-5

Abstract: A dynamical sliding-mode controller is devised to track the output of mobile manipulators.firstly a reduced dynamic model considering the dynamics of the driving motor is developed for mobile manipulatorsdesign method of the dynamical sliding-mode controller that is applied to the output tracking of mobile manipulators

Keywords： lower-dimensional     nonlinear     trajectory     tracking     diffeomorphism    

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Design and analysis of a class of redundant collaborative manipulators with 2-dimension large rotational

Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 1,   Pages 66-80 doi: 10.1007/s11465-019-0570-x

Abstract: 2R1T (R: Rotation; T: Translation) parallel spindle heads and the corresponding collaborative 5-axis manipulatorsThe corresponding 5-axis collaborative manipulators are presented by constructing a 2-DOF series translationalThe results show that these manipulators have large 2D rotational angles than the traditional A3/Z3 heads

Keywords： parallel mechanism     redundant mechanism     large rotational angles     machine tools     2R1T spindle head     collaborative manipulator    

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LARM PKM solutions for torso design in humanoid robots

Marco CECCARELLI

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 4,   Pages 308-316 doi: 10.1007/s11465-014-0318-6

Abstract:

Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.

Keywords： humanoid robots     torso design     parallel manipulators (PKM)     conceptual design    

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Managing economic and social profit of cooperative models in three-echelon reverse supply chain for waste

Jian Li, Zhen Wang, Bao Jiang

Frontiers of Environmental Science & Engineering 2017, Volume 11, Issue 5, doi: 10.1007/s11783-017-0999-2

Abstract: The paper investigates cooperative models with different parties in a three-echelon reverse supply chainIn addition, the optimal decisions of four cooperative models and the effect of the market demand of

Keywords： Waste electrical and electronic equipment (WEEE)     Reverse supply chains     Recycle quantity     Social benefit     Cooperative    

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Benefit-based cost allocation for residentially distributed photovoltaic systems in China: A cooperative

Xi LUO, Xiaojun LIU, Yanfeng LIU, Jiaping LIU, Yaxing WANG

Frontiers of Engineering Management 2021, Volume 8, Issue 2,   Pages 271-283 doi: 10.1007/s42524-019-0083-7

Abstract: Distributed photovoltaic (PV) systems have constantly been the key to achieve a low-carbon economy in China. However, the development of Chinese distributed PV systems has failed to meet expectations because of their irrational profit and cost allocations. In this study, the methodology for calculating the levelized cost of energy (LCOE) for PV is thoroughly discussed to address this issue. A mixed-integer linear programming model is built to determine the optimal system operation strategy with a benefit analysis. An externality-corrected mathematical model based on Shapley value is established to allocate the cost of distributed PV systems in 15 Chinese cities between the government, utility grid and residents. Results show that (i) an inverse relationship exists between the LCOEs and solar radiation levels; (ii) the government and residents gain extra benefits from the utility grid through net metering policies, and the utility grid should be the highly subsidized participant; (iii) the percentage of cost assigned to the utility grid and government should increase with the expansion of battery bank to weaken the impact of demand response on increasing theoretical subsidies; and (iv) apart from the LCOE, the local residential electricity prices remarkably impact the subsidy calculation results.

Keywords： solar photovoltaic     cost allocation     cooperative game theory     Shapley value     mixed-integer linear programming    

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Cooperative effect between copper species and oxygen vacancy in CeZrCuO catalysts for carbon monoxide

Frontiers of Chemical Science and Engineering 2021, Volume 15, Issue 6,   Pages 1524-1536 doi: 10.1007/s11705-021-2106-2

Abstract: copper species were the adsorption and activation sites of O2 and CO, respectively, and the cooperative

Keywords： Ce–Zr–Cu–O     CO oxidation     reducible copper species     oxygen vacancy     cooperative effect    

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Multi-UAV cooperative target tracking with bounded noise for connectivity preservation

Rui Zhou, Yu Feng, Bin Di, Jiang Zhao, Yan Hu,jzhao@buaa.edu.cn

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 10,   Pages 1413-1534 doi: 10.1631/FITEE.1900617

Abstract: We investigate cooperative target tracking of multiple unmanned aerial vehicles (UAVs) with a limited
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The role delegation authorization model of a computer-supported cooperative design system

XU Hongxue, LIU Yongxian, SHENG Zhongqi, GUO Xiuying

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 201-204 doi: 10.1007/s11465-007-0034-6

Abstract: According to the specific characteristics of a computer-supported cooperative design (CSCD) system, the

Keywords： fitful     RBAC     different     multi-varying     CSCD    

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Feasible workspace regions for general two-revolute manipulator

Conghui LIANG, Marco CECCARELLI

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 4,   Pages 397-408 doi: 10.1007/s11465-011-0228-9

Abstract:

In this paper, a topology is presented for feasible workspace regions in general two-revolute manipulatorscases are analyzed in details to characterize workspace design capabilities for general two-revolute manipulators

Keywords： workspace     two-revolute manipulators     topology analysis     design    

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Traffic Engineering Considering Cooperative Vehicle Infrastructure System

Wang Yunpeng,Lu Guangquan and Yu Haiyang

Strategic Study of CAE 2018, Volume 20, Issue 2,   Pages 106-110 doi: 10.15302/J-SSCAE-2018.02.016

Abstract: Technologies associated with the cooperative vehicle infrastructure system (CVIS), which is based on

Keywords： traffic engineering     cooperative vehicle infrastructure system     development trend    

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Title Author Date Type Operation

Adaptive robust neural control of a two-manipulator system holding a rigid object with inaccurate base frame parameters

Fan XU, Jin WANG, Guo-dong LU

Journal Article

Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion

Po-Chih LEE, Jyh-Jone LEE

Journal Article

Tracking control of robot manipulators via output feedback linearization

FEI Yue-nong, Wu Qing-hua

Journal Article

Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

LIU Hongyi, WANG Fei, WANG Lei

Journal Article

Enhancing the terrain adaptability of a multirobot cooperative transportation system via novel connectorsand optimized cooperative strategies

Journal Article

Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

Journal Article

Design and analysis of a class of redundant collaborative manipulators with 2-dimension large rotational

Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO

Journal Article

LARM PKM solutions for torso design in humanoid robots

Marco CECCARELLI

Journal Article

Managing economic and social profit of cooperative models in three-echelon reverse supply chain for waste

Jian Li, Zhen Wang, Bao Jiang

Journal Article

Benefit-based cost allocation for residentially distributed photovoltaic systems in China: A cooperative

Xi LUO, Xiaojun LIU, Yanfeng LIU, Jiaping LIU, Yaxing WANG

Journal Article

Cooperative effect between copper species and oxygen vacancy in CeZrCuO catalysts for carbon monoxide

Journal Article

Multi-UAV cooperative target tracking with bounded noise for connectivity preservation

Rui Zhou, Yu Feng, Bin Di, Jiang Zhao, Yan Hu,jzhao@buaa.edu.cn

Journal Article

The role delegation authorization model of a computer-supported cooperative design system

XU Hongxue, LIU Yongxian, SHENG Zhongqi, GUO Xiuying

Journal Article

Feasible workspace regions for general two-revolute manipulator

Conghui LIANG, Marco CECCARELLI

Journal Article

Traffic Engineering Considering Cooperative Vehicle Infrastructure System

Wang Yunpeng,Lu Guangquan and Yu Haiyang

Journal Article