By Xianmin Zhang, Honghai Liu, Zhong Chen, Nianfeng Wang
This quantity set LNAI 8917 and 8918 constitutes the refereed lawsuits of the seventh foreign convention on clever Robotics and functions, ICIRA 2014, held in Guangzhou, China, in December 2014. The 109 revised complete papers awarded have been conscientiously reviewed and chosen from 159 submissions. The papers goal at bettering the sharing of person reports and services in clever robotics with specific emphasis on technical demanding situations linked to different functions resembling biomedical purposes, commercial automations, surveillance, and sustainable mobility.
Read or Download Intelligent Robotics and Applications: 7th International Conference, ICIRA 2014, Guangzhou, China, December 17-20, 2014, Proceedings, Part II PDF
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Extra info for Intelligent Robotics and Applications: 7th International Conference, ICIRA 2014, Guangzhou, China, December 17-20, 2014, Proceedings, Part II
The desired trajectory is given and the actuators’ displacement and speed are calculated based on the result of inverse kinematic. Fig. 8. Block diagram of the iterative learning control system 46 H. Zhang and X. 005 0 0 0 0 0 0 2 4 6 8 times Change of maximum absolute value of error2 10 2 4 10 2 4 10 2 4 10 2 4 6 8 times Change of maximum absolute value of error3 6 8 times Change of maximum absolute value of error X 6 8 times Change of maximum absolute value of error Y 6 8 10 times Fig. 9. 9 errors of the actuators and platform decrease to near zero after 10 times of iteration.
The forward dynamics is about a situation that the input forces or the moments are given and we will calculate the position and orientation of the moving platform. On the other hand, the inverse dynamics is to gain the input forces or moments of the actuators with respect to the given motion trajectories of the moving platform. And this model later can be used to design the dynamic controller. Over the last three decades, several researchers have made contributions to the dynamic analysis of parallel manipulator.
The requirement of predicting the system dynamics accurately is increasingly necessary with the development of precision mechanical engineering. Therefore, it is important to establish a way to model the 3-RRR mechanism with the link flexibility. Some researchers have studied the influence of the body flexibility in the dynamics performance of multibody systems. Tian [3, 4] proposed a new methodology for the dynamic analysis of rigid-flexible multibody systems with ElastoHydraDynamic lubricated cylindrical joints.