Instead of directly sampling the phase currents, a technique that adopts single current sensor in dc link to reconstruct three-phase currents has arisen. Through this approach, cost servo systems can be reduced and reliability improved. However, duration an effective vector may so short cannot measured reliably by conventional space-vector pulsewidth modulation (PWM) algorithm. In paper, new phase-current reconstruction method, switching-state shift (SSPS), is proposed based on PWM pattern...

A new fault detection and tolerance (FDT) control strategy for current sensors of permanent magnet synchronous machine drive in filed-oriented mode was introduced this paper, based on the reasonable estimation amplitude. The propounded method can be applied to deal with a single or double signal-loss faults (two concurrent independent faults), shows capability online revision gain variation zero offset. Compared conventional observer-/model-based methods sensors, proposed only requires...

To measure the angular position of motors, robot joints, etc., an absolute magnetic rotary sensor is developed, which possesses small-size, light, robust, and easy-to-integrate properties. The consists two inductors, i.e., a code disc signal processing part. Both inductors are embedded with big planar spiral copper coil four smaller coils by employing microelectromechanical system (MEMS) technology, there circles regular sheets listing on surface disc. In addition, mathematical analyses...

Fault tolerance is a critical requirement for robust motion control of redundant robotic manipulators. This article aims to endow the manipulator with capability achieve required path end-effector in condition that one or some its joints' fail. Although many fault-tolerant algorithms have been proposed recent years. However, few them are on basis model unknown. The complexity calculation limits efficiency and portability these algorithms. For first time, we discrete model-free tracking...

Grasping and manipulating various kinds of objects cooperatively is the core skill a dual-arm robot when deployed as an autonomous agent in human-centered environment. This requires fully exploiting robot's versatility dexterity. In this work, we propose general framework for manipulators that contains two correlative modules. The learning-based dexterity-reachability-aware perception module deals with vision-based bimanual grasping. It employs end-to-end evaluation network probabilistic...

For the encoders, especially sine-cosine magnetic ones, a new method to measure absolute angular position is proposed in paper. In method, code disc of encoder has only two circle tracks and each one was divided into<mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" id="M1"><mml:mrow><mml:mi>N</mml:mi></mml:mrow></mml:math>and (<mml:math id="M2"><mml:mi>N</mml:mi><mml:mo>-</mml:mo><mml:mn>1</mml:mn></mml:math>) equal cells. The cell angles, changing from 0° 360° between any neighboring...

Tracking control of redundant manipulators is always a basic and important issue in robotics. Existing studies have indicated that the pivotal region brain associated with human motion cerebellum. This motivates us to devise model-based cerebellum-inspired (MBCI) scheme model-free (MFCI) for tracking this article. The MBCI solves inverse kinematics problem cerebellum model. By using parameters Jacobian matrix manipulator, task space error transformed into joint error, which taken as teaching...

Tracking control of redundant and hyperredundant manipulators is a fundamental critical problem in practical applications. In order to effectively decrease the end-effector position errors, novel dual fuzzy-enhanced neurodynamic (DFEN) scheme put forward for solving error accumulation followed by achieving accurate tracking results. The proposed established based on zeroing approach conjunction with two fuzzy adjustment units that are capable tuning parameters monitoring error. Moreover,...

Taking advantage of their inherent dexterity, robotic arms are competent in completing many tasks efficiently. As a result the modeling complexity and kinematic uncertainty arms, model-free control paradigm has been proposed investigated extensively. However, robust presence noise interference remains problem worth studying. In this paper, we first propose new kind zeroing neural network (ZNN), i.e., integration-enhanced noise-tolerant ZNN (IENT-ZNN) with capability. Then, unified dual...

This paper proposes a stable and high-accuracy model-free calibration method for unopened robotic systems, which can significantly improve the robot positional accuracy. Two improvements are made to existing kriging-based error compensation achieve robustness/practicality enhancement goals: (1) The semi-variogram model is solved using sequential quadratic programming (SQP) algorithm, distance weight coefficients added objective function. accuracy of modeling guaranteed, thereby improving...

Various applications (e.g., disaster response) put forward higher requirements for the capabilities of robots. However, to date, few platforms can be compatible with required mobility, stability and dexterity. A major challenge is mobile may severely limit variety manipulation skills. To tackle issue, this paper presents a new track-legged humanoid robot, Dexbot, aiming achieve both dexterity mobility simultaneously. Dexbot composed versatile upper body platform, total 56 active DOFs about...

A novel Wheatstone bridge adjustment circuit with both rough-tuning and fine-tuning functions is designed for balancing the in this article. Firstly, parametric structure constructed to facilitate design of sub-circuit parameters; Secondly, quantitative index imbalance defined, parameter flow sub-circuit, which consists two sets series-parallel-resistor (SPR) structures that are, respectively, connected parallel branches one half-bridge, given directly weaken initial manufacturing stage....

Abstract Humanoid robots have attracted much attention by virtue of their compatibility with human environments. However, biped humanoids immense promise still cannot function steadily and reliably in real‐world settings the current state. Hence, rationally combining a humanoid robot different stable mobile platforms is favoured solution for diverse scenarios. Here, new versatile platform, aiming to provide generic that can be flexibly deployed scenarios, example, indoors fields presented....

With the development of robotics in recent years, space robotic manipulators have become a research focus on technologies. In TianGong-2 (TG-2) spacelab mission, human-robot collaborative on-orbit servicing experiment was planned as one three key tasks. The central component this task is TG-2 manipulator, which multisensory in-vehicle robot with multiple control modes, including 6-DOF arm, five-fingered humanoid hand, hand-eye and global cameras, human-machine interfaces(space mouse cyber...

Taking advantage of the computational efficacy, recursive neural network (RNN) has been successfully applied to tracking control redundant manipulators. However, existing system based on fixed-parameter RNN (FP-RNN) model is found be deficient in terms convergence, robustness, and practicability, measurements end-effector position, velocity, acceleration are necessary. To overcome limitations FP-RNN-based method, this article investigates discretizes three kinds varying-parameter (VP-RNN)...

Purpose In the current teleoperation system of humanoid robots, control between arms and waist are individual lack coordinated motion. This paper aims to solve above problem proposes a approach for robot based on waist–arm coordination (WAC). Design/methodology/approach The WAC comprises dual-arm (DAC) WAC. DAC method realizes motion both through one hand by establishing mapping relationship single controller manipulated object; calculating inverse kinematic input robotic desired velocity...