Not all algorithms are presently supported in block format. However, as long as they support code generation, they can still be easily integrated into Simulink. The best practice is to use MATLAB Function blocks containing functions that supports code generation. By implementing the function i...
Soh. Robust control of a manipulator performing constrained motion with uncertainties in the cons-traint functions[J]. Journal of Robotic Systems , 1995, 12(11): 747–755.Y. K. Ho,D. Wang,Y. C. Soh.Robust control of a manipulator performing constrained motion with uncertainties in the ...
Combining the advantages of sliding-mode control (SMC) and backstepping methodology,Ma et al. (2006)presented a controller design that used networks ofGaussianradial basis functionswith variable weights to compensate the model uncertainties. While SMC ensures robustness in the presence of model uncertain...
When planning the motion between nodes in the tree, a set of configurations are generated and validated. This computation time of the planner is proportional to the number of configurations generated. The number of configurations between nodes is controlled by the ratio of theMaxConnectionDistanceand...
Section 3 displays the mathematical formulation of the dynamic model in detail, which includes the dynamic modeling of the ammunition manipulator system, Reissner-Mindlin shell discretization based on the ECSS-DSG method, and order reduction method based on modal synthesis. In Sect. 4, we introduce...
In robotics, reinforcement learning (RL) is often used to help robots learn complex tasks through interactions with their environment. A crucial aspect of RL is the design of reward functions; these functions guide the learning process by providing feedback on a robot’s actions. However, craftin...
As shown in FIG. 1, the manipulation input device 100 includes a master input section 200 and the control unit 400 (interlock control unit). The master input section 200 functions as a master that delivers an operation from the operator Op to the slave manipulator 300. The master input sect...
Robotic tools have been developed to further improve the minimally invasive surgical process. These tools are highly specialized. They must perform the function that a surgeon would perform in a miniaturized manner. Surgeons perform many different functions on internal organs such as cutting, scraping,...
member2in the form of a spherical shell. The micro-hand3has manipulation functions such as a function of grasping or releasing a minute object such as a cell and a function of performing a process such as formin
Based on the analysis of the functions...doi:10.1007/978-3-030-00214-5_101Li ChengxiangWang BinZhang YaoleiHaiyan LiJuying WenSpringer, ChamAdvances in Intelligent Systems and Computing