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- 저자 : Zhijiang Du (검색결과 3 건)
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An Adaptive Sliding Mode-Like P-type Iterative Learning Control for Robot Manipulators
Yi Long,Zhijiang Du,Weidong Wang 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
Iterative learning control(ILC) is used to track the trajectory of repetitive motion, especially for industrial robot. The proposed control scheme is based upon the feedback of tracking error and corresponding change rate, which construct a switching surface, with the use of a proportional structure, for which it is called sliding mode-like P-type ILC. In addition, an adaptive item was added to not only cope with the unknown parameters and disturbances but also. remove chatter phenomenon happening in control process. To verify the proposed control law, a conventional PD ILC and an adaptive PD ILC are added as comparison with all the same setting conditions. We use root mean square error (RSME) each iteration trial as performance evaluation index. Finally, simulation results are provided to illustrate the effectiveness of the proposed controller. As a result, it can achieve better performance.
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Genetic Algorithm-based Optimal Design Strategy of a Continuum Surgical Manipulator
Haodong Wang,Zhijiang Du,Zhiyuan Yan,Yongzhuo Gao 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.10
A novel wire-driven continuum surgical robot for laryngeal surgery is presented. The surgical robot is composed of a power transmission interface, a continuum manipulator, a surgical forceps and motors. The motion of the surgical robot is obtained by causing a controlled deformation in the continuum manipulator, which is the core part of the surgical robot. Therefore, the structural design optimization problem of continuum manipulators is solved in this paper. Based on the structure of the continuum manipulator, optimization objectives which include loadcarrying capacity and secondary deformation are established. The non-dominant sorting genetic algorithm with elite strategy (NSGA-II) is adopted for multi-objective optimization. An experimental prototype is constructed based on the designed optimization results. The load-carrying and space-traversal capacity tests prove the effectiveness of the proposed optimization algorithm.
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Design and Kinematic Modeling of a Notch Continuum Manipulator for Laryngeal Surgery
Haodong Wang,Xiaolong Wang,Wenlong Yang,Zhijiang Du 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.11
A notch continuum manipulator with a large cavity is presented. The continuum manipulator which is designed for laryngeal surgery is composed of guidewire discs and a Nitinol skeleton. The deformation of the continuum manipulator is superimposed by the flexible units, therefore its posture and driving force are coupled. Based on the small deformation cantilever beam theory, the mechanical model from the microscopic to the macroscopic is used to establish the mapping from the driving space to the joint space. The manipulator is assumed to be a multi-joint series robot. Based on the mechanical model, the mapping from the joint space to the Cartesian space is established by the Denavit-Hartenberg (D-H) method. The kinematics is established from the driving space to the Cartesian space. The proposed kinematic model is verified by a prototype. The experimental results show the validity of the model.
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