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RISS 인기검색어
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- 저자 : Zu-De Zhou (검색결과 3 건)
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Bitao Yao,Zu-De Zhou,Lihui Wang,Wenjun Xu,Quan Liu 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.10
Sensor-less external force detection is important for industrial robots which are usually not equipped with external force sensors to be applied in physical human-robot interaction (pHRI). This paper adopts the dynamic models of the robot in both dynamic mode and quasistatic mode to detect the external force. In the dynamic mode, the inertia and friction parameters of the robot are identified with the weighted least squares. The excitation trajectory for parameter identification is optimised. The un-modelled peak points in the joint torque residual are removed by a statistical method. The torque changes of joints in quasi-static mode which are equivalent to the joint pre-sliding friction is modelled with a lumped parameter model, generalised Maxwell slip (GMS) element model. Therefore, there is no need for the switching between the friction models in different modes and this and facilitates the application of dynamic model in the external force detection. The dynamic models of robots both in dynamic mode and quasi-static mode and their effectiveness for external force detection in pHRI are verified by experimental results.
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FBG-based Non-contact Vibration Measurement and Experimental Study
Li Wei,Zu-De Zhou,Jun Huang,Yue-Gang Tan 한국정밀공학회 2013 International Journal of Precision Engineering and Vol. No.
Rotating shaft vibration measurement has important significance for condition monitoring and fault diagnosis of large rotating machinery system. This paper presents a novel non contact radial vibration displacement measurement method based on fiber Bragg grating (FBG) sensing technology and introduces the principle and structure of the vibration sensor. The static displacement calibration experiment was carried out to determine linear range and sensitivity of the sensor. Finally, the sensor was used in the dynamic test of a rotating machinery experiment platform and the results show that the measurement method is feasible.
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H<SUB>∞</SUB> Filtering for Descriptor Systems
Yue-Peng Chen,Zu-De Zhou,Chun-Nian Zeng,Qing-Ling Zhang 대한전기학회 2006 International Journal of Control, Automation, and Vol.4 No.6
The paper is concerned with H∞ filtering for descriptor systems. A necessary and sufficient condition is established in terms of linear matrix inequalities (LMIs) for the existence of normal filters such that the error systems are admissible and the transfer function from the disturbance to the filtering error output satisfies a prescribed H∞-norm bound constraint. When these LMIs are feasible, an explicit parameterization expression of all desired normal filter is given. All these results are yielded without decomposing the original descriptor systems, which makes the filter design procedure simple and direct. Finally, a numerical example is derived to demonstrate the applicability of the proposed approach.
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