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The Identification Method of Robot Actuator Parameters
Alexander Laray,Dmitry Yukhimets 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
During the synthesis of control systems of movement of various robotic objects (wheeled robots, unmanned aerial vehicles (UAVs), underwater robots) the dynamics of their actuators play important role. The dynamics of these actuators affects significantly to the accuracy of the control system. The paper proposes an approach to the identification of the dynamic model of actuators of mobile robots illustrated by the UAV propeller as example. The feature of the proposed method is to use the method of least mean squares (LMS) to identify the parameters of nonlinear dynamic objects. The results of experimental research for the actuator of the UAV are presented in paper.
V. Filaretov,D. Yukhimets 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
In this work the method of advanced forming of program signal of UV’s movement on desired spatial trajectory is offered. This method is based on simultaneous tuning of desirable UV’s velocity and correction of target point position. The correction of target point’s position is done by means of using of vector of UV’s deviation from desired trajectory. It allows entering to input signals of UV’s control system additional terms which allow forming additional control signal for compensation of UV’s deviation from desirable trajectory. Results of computer simulation are shown that using of offered method of forming of program signals allow provide the UV’s movement on desired spatial trajectory with maximal velocity practically on all it parties independently from these curvatures.
Aleksandr Novitsky,Dmirty Yukhimets 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
In this paper, we propose a method for constructing a mobile robot navigation system based on data fusion obtained from on-board sensors and cameras using an extended Kalman filter. Moreover, the video device we use is a low cos web-camera, that leads to whole system price reduction. The approach can significantly improve the accuracy of mobile robot navigation where global positioning systems are not available. The method proposed consists of two stages. In the first stage video processing and providing additional information about mobile robot movement occurs. A second stage is the fusion of the navigation data obtained from the video stream and the data received from the onboard sensors of the mobile robot. The experimental study of the proposed approach proved its higher accuracy and efficiency comparing with methods based on onboard sensors or mobile robot video camera only.