Metrika

  • citati u SCIndeksu: 0
  • citati u CrossRef-u:0
  • citati u Google Scholaru:[]
  • posete u poslednjih 30 dana:1
  • preuzimanja u poslednjih 30 dana:0

Sadržaj

članak: 10 od 20  
Back povratak na rezultate
2012, vol. 62, br. 3-4, str. 45-54
Bio-inspirisano upravljanje redundantnog robotskog sistema - optimizacioni pristup
aUniverzitet u Beogradu, Mašinski fakultet, Katedra za mehaniku
bUniverzitet u Banjoj Luci, Mašinski fakultet, Republika Srpska, BiH
Projekat:
Razvoj novih metoda i tehnika za ranu dijagnostiku kancera grlića materice, debelog creva, usne duplje i melanoma na bazi digitalne slike i ekscitaciono-emisionih spektara u vidljivom i infracrvenom domenu (MPNTR - 41006)
Održivost i unapređenje mašinskih sistema u energetici i transportu primenom forenzičkog inženjerstva, eko i robust dizajna (MPNTR - 35006)

Sažetak
Osnovni cilj ovog rada je da promoviše pristup biološki inspirisanog sinergijskog upravljanja koji omogućava da se razreši redundansa datog robotizovanog sistema koji se može koristiti i za vojne svrhe. Pokazano je da je moguće razrešiti kinematički redundansu primenom metode lokalne optimizacije i bioloških analogona - sinergijsko upravljački pristup sa uvođenjem logičkog upravljanja i distribuiranog pozicioniranja. Takođe, mogućnost prebacivanja između sinegrija u okviru jedne trajektorije je razmatrano. Na kraju, problem aktuatorske redundanse je postavljen i rešen primenom Pontrjaginovog principa maksimuma. Upravljačka sinergija je ustanovljena primenom postupka optimizacije na koordinacionom nivou. Na kraju, efikasnost predložene biološki inspirisane optimalne upravljačke sinergije je demonstriran na pogodno usvojenom robotskom sistemu sa tri stepena slobode i četiri upravljačke promenljive, kao ilustrativnog primera.
Reference
Bar-Cohen, Y. (2006) Biomimetics-biologically inspired technologies. Boca Raton: CRC Press - Taylor & Francis Group
Bernstein, N.A. (1967) The coordination and regulation of movements. Oxford-New York, itd: Pergamon Press, 6, str. 77-92
Courtine, G., Schieppati, M. (2004) Tuning of a basic coordination pattern constructs straight-ahead and curved walking in humans. Journal of neurophysiology, 91(4): 1524-35
Čović, V., Lazarević, M. (2009) Lectures: Mechanics of robots. Belgrade: Faculty of Mechanical Engineering, in Serbian
Gering, H., Guzzella, L., Hepener, S., Onder, C. (1986) Time optimal motions of robots in assembly tasks. IEEE Transactions on Automatic Control, AC-31, 6, 512-518
Grinyagin, I.V., Biryukova, E.V., Maier, M.A. (2004) Kinematic and Dynamic Synergies of Human Precision-Grip Movements. J Neurophysiol, 94, 2284-2294
Harkegard, O., Glad, S.T. (2005) Resolving actuator redundancyoptimal control vs. control allocation. Automatica, 41, 137-144
Hauser, H., Neumann, G., Ijspeert, A.J., Maass, W. (2007) Biologically inspired kinematic synergies provide a new paradigm for balance control of humanoid robots. u: Conference on humanoids robots, Humanoids07, IEEE (VII), Pittsburgh, Dec. proceedings RAS/RSJ
Jarić, S., Latash, M.L. (1998) Learning a motor task involving obstacles by a multi-joint, redundant limb: Two synergies within one movement. J Electromyogr Kinesiol, 8(3): 169-76
Klug, S., Lens, T., von Stryk, O., Mohl, B., Karguth, A. (2008) Biologically inspired robot manipulator for new applications in automation engineering robotik. Munich, Jun
Latash, M.L. (2008) Synergy. Oxford University Press, pp. 432
Lathash, M.L. (1994) Control of human movement. Champaign, IL: Human Kinetics Publishers
Lazarević, M., Obradović, A., Jokaz, M., Bucanović, Lj. (2009) Biologically inspired optimal control of robotic system: Synergy approach. u: Control & Automation, 17th Mediterranean Conference, Macedonia P., Thessalonica, Greece, June 24-26, str. 958-963
Lazarević, M. (2012) Upravljanje necelobrojnog reda jednim robotskim sistemom pogonjenog jednosmernim motorima. Scientific Technical Review, vol. 62, br. 2, str. 20-29
Lazarević, M.P. (2005) Optimalno upravljanje redundantnim robotima na način sličan čoveku. FME Transactions, vol. 33, br. 2, str. 53-64
Lurye, A.I. (1961) The analytical mechanics. Moscow: Phys.-Math. Giz
Pereyra, V. (1978) PASVA 3: An adaptive finite difference Fortran program for first order nonlinear, ordinary boundary problems. Lecture Notes in Computer Science, vol. 76, str. 67-88
Pontryagin, L.S., Boltyanskii, V.G., Gamkrelidze, R.V., Mishchenko, E.F. (1983) Mathematical theory of optimum processes. Moscow: Nauka
Potkonjak, V., Popović, M., Lazarević, M.P., Sinanović, J. (1998) Redundancy problem in writing: From human to anthropomorphic robot arm. IEEE Transactions on Systems Man and Cybernetics, B: Cybernetics, 28(6): 790-805
Potkonjak, V., Kostic, D., Tzafestas, S., Popovic, M., Lazarevic, M.P., Djordjevic, G.S. (2001) Human-like behavior of robot arms: General considerations and the handwriting task - Part II: the robot arm in handwriting. Robotics and Computer-Integrated Manufacturing, vol. 17, br. 4, str. 317-327
Schanzer, G.F., Callies, R. (2008) Multiple constrained rivaling actuators in the optimal control of miniaturized manipulators. Multibody System Dynamics, 19(1-2): 21-43
Todorov, E., Ghahramani, Z. (2004) Analysis of the synergies underlying complex hand manipulation. u: Annu. conf. IEEE engineering in medicine and biology society (II), Proc., 4637-4640
Todorov, E., Jordan, M.I. (2002) Optimal feedback control as a theory of motor coordination. Nature neuroscience, 5(11): 1226-35
Todorov, E. (2004) Optimality principles in sensorimotor control. Nature Neuroscience, 7(9): 907-915
Tomović, R., Popović, D.B., Stein, R.B. (1995) Nonanalytical methods for motor control. Singapore, itd: World Scientific Publishing
Vepa, R. (2009) Biomimetic robotics-mechanisms and control. Cambridge University Press
Vinjamuri, R., Mao, Z.H., Sclabassi, R., Sun, M. (2007) Timevarying synergies in velocity profiles of finger joints of the hand during reach and grasp. u: IEEE International Conference of the Engineering in Medicine and Biology Society France
Webb, B. (2001) Can robots make good models of biological behaviour?. Behavioral and brain sciences, 24(6): 1033-50; discussion 1050-94
 

O članku

jezik rada: engleski
vrsta rada: neklasifikovan
objavljen u SCIndeksu: 22.03.2013.

Povezani članci

Nema povezanih članaka