NEW APPROACHES ON MODULAR WALKING ROBOTS WITH FORCE-POSITION HYBRID CONTROL
Journal Title: ROMANIAN JOURNAL OF TECHNICAL SCIENCES - APPLIED MECHANICS - Year 2010, Vol 55, Issue 2
Abstract
The paper presents the fundamental and applicative research regarding the elaboration of new concepts and new approaches on modular walking robots force-position hybrid control by developing and experimenting with a multiprocessor system, in real-time control and open architecture HFPC MERO. There are analyzed and developed the compliant control methods of modular walking robots with tracking functions, the “multi-stage” fuzzy control with two fuzzy control loops, one in position and the other in force and the open architecture multiprocessor system. With this approach, the HFPC MERO walking robot’s control system ensures flexibility, short execution time, target precision and repeatability of the moving programs, eliminating the closed systems with projects meant for specified applications.
Authors and Affiliations
Luige VLĂDĂREANU, Ion ION
Keywords
Related Articles
- EP ID EP144837
- DOI -
- Views 89
- Downloads 0
SUR LA DEFORMATION D'UN TUBE CYLINDRIQUE
Une proposition de loi non-linéaire régissant le comportement des matériaux élastiques isotropes consiste souvent à généraliser la loi linéaire de Hooke, valable en petites déformations, par l’adjonction de termes supplé...
ANALYTICAL AND NUMERICAL STUDIES OF FORMABILITY OF METAL/POLYMER/METAL SANDWICH SHEETS
The aim of this study is to analyze formability of three-layer metal/polymer/metal sandwich sheets. For this purpose, forming limit curves (FLCs) of sandwich sheets with particular configurations were determined using tw...
AN ABSTRACT PATTERN FOR SOME DYNAMICAL MODELS
Previously, several models from mechanics and physics were found that satisfy the same polynomial equation, whose coefficients are purely abstract. These models are: the nonlinear pendulum, the Bernoulli-Euler bar, P.P....
INVARIANT CHARACTERIZING THERMALLY ACTIVATED PLASTIC FLOW
Thermal activation leads to a reduction of the flow stress below the athermal value (the zero Kelvin flow stress). The ratio between the flow stress at a given temperature and the athermal stress (at given material struc...
CONSIDERATIONS CONCERNING YIELD CRITERIA INSENSITIVE TO HYDROSTATIC PRESSURE
For distinguishing between pressure insensitive and pressure sensitive criteria, the form of yield surface with invariants is preferred. It is known that when this function can be formulated only in terms of the stress d...