For parameter identifications of robot systems, most existing works have focused on the estimation veracity, but few literature are concerned with convergence speed. In this paper, we developed a control/identification scheme to identify unknown kinematic and dynamic parameters enhanced rate. Superior traditional methods, information error was properly integrated into proposed identification algorithm, such that performance achieved. Besides, Newton-Euler (NE) method used build model, where...

Robots with coordinated dual arms are able to perform more complicated tasks that a single manipulator could hardly achieve. However, rigorous motion precision is required guarantee effective cooperation between the arms, especially when they grasp common object. In this case, internal forces applied on object must also be considered in addition external forces. Therefore, prescribed tracking performance at both transient and steady states first specified, then, controller synthesized...

Due to strongly coupled nonlinearities of the grasped dual-arm robot and internal forces generated by objects, control with uncertain kinematics dynamics raises a challenging problem. In this paper, an adaptive fuzzy scheme is developed for robot, where approximate Jacobian matrix applied address kinematic control, while decentralized logic controller constructed compensate robotic arms manipulated object. Also, novel finite-time convergence parameter adaptation technique estimation...

This article presents an adaptive control method for dual-arm robot systems to perform bimanual tasks under modeling uncertainties. Different from the traditional symmetric control, we study with relative motions between robotic arms and a grasped object. The system is first divided into two subsystems: settled manipulator tool-used system. Then, command filtered technique developed trajectory tracking contact force control. In addition, deal inevitable dynamic uncertainties, radial basis...

Nowadays, due to many limitations in reality, the optimization of tracking precision and convergence time has attracted attention researchers robotics community. In this article, a fixed-time adaptive neural network (NN) controller is proposed for unknown robot manipulators. A switching mechanism integrated into control design such that semiglobal stability conventional NN systems can be extended global stability. The time-varying barrier Lyapunov function technique are incorporated...

In this paper, potential field method has been used to navigate a three omnidirectional wheels’ mobile robot and avoid obstacles. The is overcome the local minima problem goals nonreachable with obstacles nearby (GNRON) problem. For further consideration, model predictive control (MPC) incorporate motion constraints make velocity more realistic flexible. proposed employed based on kinematic dynamics of in paper. To show performance scheme, simulation studies have carried perform process...

In this article, an adaptive fixed-time fuzzy control scheme is proposed for uncertain robot manipulator with user-defined performance. A novel symmetrical barrier Lyapunov function designed based on the error conversion mechanism and performance such that tracking errors will not violate prescribed output constraints. law constructed incorporated into controller design all closed-loop signals can be bounded achieve practical convergence regardless of initial conditions. Finally, feasibility...

The integration of advanced sensor technologies has significantly propelled the dynamic development robotics, thus inaugurating a new era in automation and artificial intelligence. Given rapid advancements robotics technology, its core area—robot control technology—has attracted increasing attention. Notably, sensors fusion technologies, which are considered essential for enhancing robot have been widely successfully applied field robotics. Therefore, techniques with enables adaptation to...

In this paper, high-performance silica aerogel (SiO2 aerogel) thermal insulation coatings were obtained and profited from the excellent capability of SiO2 aerogel. The comprehensive properties mechanism investigated via Scanning Electron Microscope (SEM), Fourier Transform Infrared Spectroscopy (FT-IR), contact angle, temperature difference tests. Results showed that there was a contradiction between mechanical property in coating after addition amount proportion aerogel, hollow glass...

Abstract Amorphous germanium (a‐Ge) is a promising anode material for lithium and sodium‐ion batteries (LIBs SIBs) due to its higher capacity than traditional graphite materials. Herein, method prepare the a‐Ge nano‐materials with particle size ≈10 nm proposed by decomposing CaGe Zintl phase at room temperature. For LIBs, has high‐capacity retention of 80% even after 180 cycles (1375 mAh g −1 ). When employed as SIBs, two‐dimensional composites supported on nanosheets (a‐Ge@GNS) configured,...

In order to meet the demand of intelligent and efficient picking fresh citrus fruit in a natural environment, flexible independent method based on pattern recognition was proposed. The convolutional attention (CA) mechanism added YOLOv7 network model. This makes model pay more region, reduces interference some redundant information background feature maps, effectively improves accuracy model, detection error hand region. According physical parameters stem, an end-effector suitable for...

Abstract This study investigates the influence of sigma phase in 446 stainless steel on pitting process a Br- environment after heat treatment, as well its relationship with (Ti, Nb) primary precipitates. We find that chemical dissolution precipitates takes top priority, while formation stable tends to occur around at depletion region size wider than least 1.5μm. Furthermore, mesh-like along grain boundaries limits lateral growth surface, increasing tendency for vertical growth, eventually...

In this article, a neural network–based tracking controller is developed for an unmanned helicopter system with guaranteed global stability in the presence of uncertain dynamics. Due to coupling and modeling uncertainties systems, neutral networks approximation techniques are employed compensate unknown dynamics each subsystem. order extend semiglobal achieved by conventional control stability, switching mechanism also integrated into design, such that resulted always valid without any...