For a repetitive command path, pre-compen- sating the contouring error by modifying the command path is practical. To obtain the pre-compensation value with better accuracy, this paper proposes the use of a back propa...For a repetitive command path, pre-compen- sating the contouring error by modifying the command path is practical. To obtain the pre-compensation value with better accuracy, this paper proposes the use of a back propagation neural network to extract the function of systematic contouring errors. Furthermore, by using the extracted function, the contouring error can be easily pre- compensated. The experiment results verify that the proposed compensation method can effectively reduce contouring errors.展开更多
In this paper,we present an overview of the mechanical design and control of biomimetic robotic fishes with high maneuverability.The robotic fishes modelled after Esoxlucius adopt multilink propulsive mechanism for a ...In this paper,we present an overview of the mechanical design and control of biomimetic robotic fishes with high maneuverability.The robotic fishes modelled after Esoxlucius adopt multilink propulsive mechanism for a high turning rate and a small turning radius.According to different tasks,these robotic fishes are designed with decorated pectoral fins for a two-dimensional horizon plane,or controllable pectoral fins with multiple degrees of freedom for a three-dimensional space.Through observing and analyzing the fast-starts of real fish,we separately develop a dynamic trajectory tracking strategy based C-start control method and an L-shaped sliding method based S-start control method.Finally,a four-link robotic fish is able to execute C-start flexibly with a turning angle of up to 213°,a top turning rate of approximately670°/s,and an upper limit of turning precision of less than 10°and an S-start with a peak turning rate up to318.08±9.20°/s.The experimental results verify the feasibility of our high-maneuverability-oriented mechatronic design and control methods.展开更多
文摘For a repetitive command path, pre-compen- sating the contouring error by modifying the command path is practical. To obtain the pre-compensation value with better accuracy, this paper proposes the use of a back propagation neural network to extract the function of systematic contouring errors. Furthermore, by using the extracted function, the contouring error can be easily pre- compensated. The experiment results verify that the proposed compensation method can effectively reduce contouring errors.
基金supported by the National Natural Science Foundation of China(Grant Nos.61375102, 61333016 and 61421004)
文摘In this paper,we present an overview of the mechanical design and control of biomimetic robotic fishes with high maneuverability.The robotic fishes modelled after Esoxlucius adopt multilink propulsive mechanism for a high turning rate and a small turning radius.According to different tasks,these robotic fishes are designed with decorated pectoral fins for a two-dimensional horizon plane,or controllable pectoral fins with multiple degrees of freedom for a three-dimensional space.Through observing and analyzing the fast-starts of real fish,we separately develop a dynamic trajectory tracking strategy based C-start control method and an L-shaped sliding method based S-start control method.Finally,a four-link robotic fish is able to execute C-start flexibly with a turning angle of up to 213°,a top turning rate of approximately670°/s,and an upper limit of turning precision of less than 10°and an S-start with a peak turning rate up to318.08±9.20°/s.The experimental results verify the feasibility of our high-maneuverability-oriented mechatronic design and control methods.
