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科研机构
清华大学 [1]
北京大学 [1]
上海大学 [1]
沈阳自动化研究所 [1]
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期刊论文 [3]
会议论文 [1]
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2016 [1]
2013 [1]
2010 [1]
2008 [1]
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Statically redundant parallel robots
期刊论文
3rd International Workshop on Recent Progress and Novel Applications of Parallel Mechanisms, 2016, 卷号: 51, 页码: 1623-1637
作者:
Moosavian, Amin[1]
;
Xi, Fengfeng[2]
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  |  
浏览/下载:3/0
  |  
提交时间:2019/04/26
Reconfigurable parallel robots
Variable geometry wing-box
Statically redundant robots
Under-actuated mechanisms
Morphing wings
Controller design for disturbance decoupling of Boolean control networks
期刊论文
automatica, 2013
Yang, Meng
;
Li, Rui
;
Chu, Tianguang
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  |  
浏览/下载:4/0
  |  
提交时间:2015/11/10
Boolean control network
Disturbance decoupling
Output-friendly subspace
Redundant variable
Coordinate transformation
CONTROLLABILITY
SYSTEMS
Production monitoring image processing based on foveated vision
期刊论文
2010, 2010
Zheng Yong
;
Liu Dacheng
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  |  
浏览/下载:4/0
GPC scheme for the Internet-based teleoperation
会议论文
International Joint Conference on Neural Networks, Hong Kong, China, June 1-8, 2008
作者:
Chen D(陈丹)
;
Xi N(席宁)
;
Wang YC(王越超)
;
Li HY(李洪谊)
;
Tang XS(唐旭晟)
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浏览/下载:47/0
  |  
提交时间:2012/06/06
The variable time delay and the packet loss degrade the performance of Internet based teleoperation system seriously
even make the system unstable. To overcome the trouble
an idea that using CARIMA model of the linearized slave robot to design a controller based on the Generalized Predictive Control (GPC) method is proposed in this paper. We place the GPC controller at the remote site. First of all
The CARIMA model of the linearized slave robot is derived. Secondly
a GPC controller is designed at slave site to generate the redundant control information to diminish the influence of the packet loss and the large time delay in the internet to the system. Moreover
in order to solve the problem caused by the variable time delay
the reference information signed with time stamp is used and fedback to the operator
so the operator can predict the next round trip time delay(RTT) according to the preceding RTT we got. Finally
stability condition is achieved. Simulation results show that these strategies can dynamically compensate for the variable time delay and reduce the performance degradation induced by packet loss.
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