Jove
Visualize
联系我们
JoVE
x logofacebook logolinkedin logoyoutube logo
关于 JoVE
概览领导团队博客JoVE 帮助中心
作者
出版流程编辑委员会范围与政策同行评审常见问题投稿
图书馆员
用户评价订阅访问资源图书馆顾问委员会常见问题
研究
JoVE JournalMethods CollectionsJoVE Encyclopedia of Experiments存档
教育
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab Manual教师资源中心教师网站
使用条款与条件
隐私政策
政策

相关概念视频

One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

470
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...
470
Pole and System Stability01:24

Pole and System Stability

259
The transfer function is a fundamental concept representing the ratio of two polynomials. The numerator and denominator encapsulate the system's dynamics. The zeros and poles of this transfer function are critical in determining the system's behavior and stability.
Simple poles are unique roots of the denominator polynomial. Each simple pole corresponds to a distinct solution to the system's characteristic equation, typically resulting in exponential decay terms in the system's...
259
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

394
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
394
Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

656
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
656
Kinematic Equations: Problem Solving01:15

Kinematic Equations: Problem Solving

12.0K
When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...
12.0K
Controller Configurations01:22

Controller Configurations

89
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
89

您也可能阅读

相关文章

通过共同作者、期刊和引用图与本文相关的文章。

排序
Same author

Imaging mass cytometry reveals novel cellular neighborhoods for predicting the prognosis of nonalcoholic fatty liver disease-associated hepatocellular carcinoma.

Cancer cell international·2026
Same author

Degradation of ethyl carbamate by Lichtheimia ramosa EC-2 from Baijiu Daqu: Optimization, metabolites, and key enzymes.

Food microbiology·2026
Same author

Effect of different ultrasonic power levels on the structure and functional properties of soybean protein hydrolysates-soybean hull polysaccharide (SPHS-SSPS) complexes.

Food chemistry·2026
Same author

Injectable Composite Hydrogels Orchestrating Macrophage Reprogramming and Chondrogenesis to Promote Microfracture-Assisted Cartilage Repair.

Advanced healthcare materials·2026
Same author

Development and application of a fast and efficient CRISPR/Cas12f -based genetic toolkit in Bacillus cereus GW-01.

Journal of microbiological methods·2026
Same author

Cai's gynecology cyclical therapy with stasis-clearing and meridian-warming method for primary dysmenorrhea: a randomized controlled trial.

Frontiers in endocrinology·2026

相关实验视频

Updated: Jun 13, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

11.6K

通过基于PSO的全球优化战略,改善机器人操纵器的非线性强有力的控制方法.

Peihao Yue1,2, Bowen Xu3, Min Zhang2

  • 1College of Electrical and Information Engineering, Hunan University, Changsha, 410082, China.

Scientific reports
|September 13, 2024
PubMed
概括

本研究介绍了机器人操纵器的非线性主动干扰排斥控制 (NADRC) 策略,通过解决不确定性和干扰来增强轨迹跟踪. 一个改进的粒子群优化 (IPSO) 算法进一步提高了控制精度.

关键词:
活动干扰排斥控制器的控制器.非线性控制是一种非线性控制.非线性动力学是一种非线性动力学.粒子群集优化优化 粒子群集优化机器人操纵器是一个机器人操纵器.

更多相关视频

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
07:41

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

Published on: January 7, 2019

9.1K
Operation of the Collaborative Composite Manufacturing CCM System
10:09

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

6.6K

相关实验视频

Last Updated: Jun 13, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

11.6K
Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
07:41

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

Published on: January 7, 2019

9.1K
Operation of the Collaborative Composite Manufacturing CCM System
10:09

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

6.6K

科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 控制系统工程 控制系统工程
  • 人工智能的人工智能

背景情况:

  • 机器人操纵器的轨迹跟踪受到诸如死区,和和不确定的动态等因素的挑战.
  • 这些挑战增加了建模和控制的复杂性,阻碍了精确的机器人运动.
  • 现有的控制策略往往难以稳定地处理这些现实世界的复杂性.

研究的目的:

  • 为机器人操纵器提出一种新的非线性主动干扰排斥控制 (NADRC) 策略.
  • 在存在不确定性和干扰的情况下,提高轨迹跟踪的稳定性和准确性.
  • 为了优化NADRC控制器参数以提高性能.

主要方法:

  • 为机器人操纵器开发了一种非线性主动干扰排斥控制 (NADRC) 策略.
  • 集成了一个扩展状态观察员来估计和补偿模型不确定性和外部干扰.
  • 一个改进的粒子群集优化 (IPSO) 算法,结合混乱理论,被设计用于控制器参数调整.

主要成果:

  • 拟议的NADRC战略证明了机器人操纵器的强大的轨迹跟踪能力.
  • 扩展状态观察者有效地观察并补偿系统不确定性和干扰.
  • 与标准方法相比,IPSO算法显著提高了NADRC控制器的跟踪精度.

结论:

  • 开发的NADRC战略为精确的机器人操纵器轨迹跟踪提供了有效的解决方案.
  • 扩展状态观察员和IPSO优化的集成提高了控制的稳定性和准确性.
  • 对比研究证实了拟议的控制策略在传统方法上的优越性.