Journal of Intelligent and Robotic Systems

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A hybrid frequency—time domain adaptive fuzzy control scheme for flexible link manipulators
Journal of Intelligent and Robotic Systems - Tập 10 - Trang 283-300 - 1994
Anthony Tzes, Kyriakos Kyriakides
This paper addresses the implementation of an adaptive fuzzy controller for flexible link robot arms. The design technique is a hybrid scheme involving both frequency and time domain techniques. The eigenvalues of the open loop plant can be estimated through application of a frequency domain based identification algorithm. The region of the eigenvalue space, within which the system operates, is pa...... hiện toàn bộ
Applications of neural networks for coordinate transformations in robotics
Journal of Intelligent and Robotic Systems - Tập 8 - Trang 361-373 - 1993
J. F. Gardner, A. Brandt, G. Luecke
The use of artificial neural networks is investigated for application to trajectory control problems in robotics. The relative merits of position versus velocity control is considered and a control scheme is proposed in which neural networks are used as static maps (trained off-line) to compute the inverse of the manipulator Jacobian matrix. A proof of the stability of this approach is offered, as...... hiện toàn bộ
Task Oriented Optimum Positioning of a Mobile Manipulator Base in a Cluttered Environment
Journal of Intelligent and Robotic Systems - Tập 18 - Trang 147-168 - 1997
Young Soo Park, Hyung Suck Cho
A method for generating discrete optimal sequences of base locations for mobile manipulators is presented that considers the task capability of the workspace in a cluttered environment. In implementation, the obstacles and task trajectories are represented by 2n trees, so that a series of set operations are performed to characterize the manipulator’s configuration space into topological subspaces....... hiện toàn bộ
Mixed Fuzzy Sliding-Mode Tracking with Backstepping Formation Control for Multi-Nonholonomic Mobile Robots Subject to Uncertainties
Journal of Intelligent and Robotic Systems - Tập 79 - Trang 73-86 - 2014
Hsiu-Ming Wu, Mansour Karkoub, Chih-Lyang Hwang
This paper aims at attaining one-leader & two-followers (1L-2F) formation control of multi-nonholonomic mobile robot (multi-NMR) systems subject to uncertainties and, at the same time, achieves trajectory-tracking of the leader NMR. To begin, the tracking error between the leader and a virtual reference robot is defined. Then, the extension to a leader-follower formation control structure is utili...... hiện toàn bộ
Integrated operation planning: Intelligent system approach for HVAC processes
Journal of Intelligent and Robotic Systems - Tập 10 - Trang 59-78 - 1994
Hong Zhou, Ming Rao, Karl T. Chuang
This paper describes the construction of an Intelligent System for Operation Planning (ISOP) in heating, ventilating, and air conditioning (HVAC) processes. The system contains important expertise, qualitative reasoning, and quantitative computation. It is used to assist or train operators to achieve better operation in HVAC systems. Expertise about operation planning is expressed as air enthalpy,...... hiện toàn bộ
From the Editor-in-Chief
Journal of Intelligent and Robotic Systems - Tập 67 - Trang 1-1 - 2012
Kimon P. Valavanis
A Vision-Based Coordinated Motion Scheme for Dual-Arm Robots
Journal of Intelligent and Robotic Systems - Tập 97 - Trang 67-79 - 2019
Xianlun Wang, Longfei Chen
With the rise of service robots, research on cooperation between two-arm robots has become increasingly important. In this paper, two NAO two-armed robots are used as the experimental platform and are combined with projective geometry, vision, robotics and other knowledge to carry out theoretical derivation and experiments on the coordinated movements of dual-arm robots. From the aspect of visual ...... hiện toàn bộ
A Robust Control Law with Estimated Perturbation Compensation for Robot Manipulators
Journal of Intelligent and Robotic Systems - Tập 36 - Trang 265-283 - 2003
S. P. Chan
By considering the dynamic response of a robot manipulator as characterized by the sliding function, a technique is proposed to estimate the perturbation in the robot control system. Perturbation compensation is then incorporated in the design of a robust control law to cancel the effects of system parametric uncertainties and external disturbances. A normalized power rate component is introduced ...... hiện toàn bộ
Experimental Reaction–Diffusion Chemical Processors for Robot Path Planning
Journal of Intelligent and Robotic Systems - - 2003
Andrew Adamatzky, Benjamin de Lacy Costello, Chris Melhuish, Norman Ratcliffe
In this paper we discuss the experimental implementation of a chemical reaction–diffusion processor for robot motion planning in terms of finding the shortest collision-free path for a robot moving in an arena with obstacles. These reaction–diffusion chemical processors for robot navigation are not designed to compete with existing silicon-based controllers. These controllers are intended for the ...... hiện toàn bộ
Near Time-Optimal Trajectory Generation for Multirotors using Numerical Optimization and Safe Corridors
Journal of Intelligent and Robotic Systems - Tập 105 - Trang 1-10 - 2022
Charbel Toumieh, Alain Lambert
Trajectory generation is a fundamental problem for every type of robot. In most applications, the robots should reach their goals in the minimum time possible. Time-optimal trajectory generation allows us to solve this problem. The generation of such trajectories for multirotors has gained traction with new applications in transport, delivery and search and rescue missions, as well as other applic...... hiện toàn bộ
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