相关实验视频

Updated: Jul 9, 2025

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
10:32

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Published on: August 15, 2016

15.5K

模拟 PID 控制的 3DOF 机器人操纵器,使用 Lyapunov 函数来增强轨迹跟踪和利用黄金子算法的稳定性

Muhammad I Azeez1, Khaled R Atia1

  • 1Mechanical Design and Production Engineering Department, Zagazig University, Zagazig 44519, Egypt.

ISA transactions
|December 1, 2023
PubMed
概括

这项研究使用金优化 (GJO) 算法优化了一个机器人操纵器控制器. GJO算法提高了工业采购任务的跟踪和稳定性.

关键词:
黄金子 优化 优化莱帕努诺夫函数是一个函数.刚性链接操纵器 刚性链接操纵器在 Simscape 建模中使用 Simscape 模型.轨迹跟踪跟踪 轨道跟踪

更多相关视频

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound07:41

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

9.2K
Operation of the Collaborative Composite Manufacturing CCM System10:09

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

6.6K

相关概念视频

PID Controller01:19

PID Controller

Proportional-Integral-Derivative (PID) controllers are widely used in various control systems to enhance stability and performance. In a thermostat, it adjusts heating or cooling based on the temperature difference between the actual and desired levels. They are often used in automotive speed systems, effectively managing sudden speed changes while maintaining a constant speed under varying conditions. On the other hand, PI controllers, commonly employed in voltage regulation, enhance stability...
120
Time-Domain Interpretation of PD Control01:07

Time-Domain Interpretation of PD Control

Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
119
PD Controller: Design01:26

PD Controller: Design

In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
241
Open and closed-loop control systems01:17

Open and closed-loop control systems

Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
759
PI Controller: Design01:24

PI Controller: Design

Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
285
One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
491