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《Journal of Zhejiang University(Natural Science)》 1992-01
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Optimal control for sphere joint actuator used in robots

Zhu Jing Zhang Yongkang Gao Jian(Dept. of Electrical Engineering)  
This paper put forward principles of PTP's Time-Optimal-Control ( TOC) and reconstructed cryptic-Double-Differentiate-Functional-interpolation (RCDDFI) for stepping Sphere-Joint -actuator (SJA). TOC and RCDDFI were used in SJA's FTP and CP controling. Through theory exploring, criterion defining and progam running, we found thai they had a very good controling result in actual application.
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【Co-citations】
Chinese Journal Full-text Database 10 Hits
1 CHEN Guo -cong, YANG Zheng -shu (College of mechanical Engineering, Chongqing University, Chongqing 400044, China);Research on Mathematical Methods Used in NC System for Profile-followed Grinding Robot[J];ORDNACE INDUSTRY AUTOMATION;2000-03
2 Yang Zheng-Shu, Chen Guo-Cong (Collage of Mechanical Engineering, Chongqing University. Chongqing 400044, hina);The Application of Graphic Transfer Technique in Control System of the Robot for Grinding Turbine Body Surface[J];Ordnace Industry Automation;2001-01
3 LIU Shengping,SHUI Xiaoping (Department of Apllied Mechanics,Beijing Institute of Technology,Beijing,100081);Optimization of the Trajectory Planning of Robot Manipulators Taking into Account the Dynamics of the System[J];Journal of Changsha University;2003-02
4 LIU Cui ling 1, WANG En kui 2, LUO Qing jun 3, ZOU Shu\|tian 4 ( 1 Dept of Automation and Control Engineering, Daqing Petroleum Institute, Anda, Heilongjiang 151400, China; 2 Daqing Automatic Instruments Factory, Daqing 163453, China; 3 Daqing Lianyi Petro chemical Co. Limited, Daqing 163852; 4 Materials and Equipment General Company, Daqing Petroleum Administration Bureau, Daqing 163453, China );Multi-variable self-tuning control of remotely operated vehicle's manipulator(ROVM)[J];Journal of Daqing Petroleum Institute;1999-04
5 CHEN Guo cong 1, YANG Zheng shu 1, CHEN Rui chuan 2 (1 College of Mechanical Engineering, Chongqing University, Chongqing 400044, China; 2 College of Computer Science, Chongqing University, Chongqing 400044, China);Graphic Transfer Technique Applied in the Grinding Robot[J];Journal of Chongqing University(Natural Science Edition);2002-09
6 LIU Peng-hu, ZHANG Yong, ZHANG Qiang(College of Mechanical Engineering,Liaoning Technical University,Fuxin 123000,China);Dynamical analysis and control for manipulator of hydraulic excavator[J];Chinese Journal of Construction Machinery;2007-01
7 SHI Yu, FAN Ding(College of Materials Science and Engineering, Gansu Univ. of Tech., Lanzhou730050, China);Design of I/O communication lnterface between welding robot and numerically controlled positioner[J];Journal of Gansu University of Technology;2002-04
8 ;分布式控制系统在工业机器人中的应用[J];Industrial Control Computer;2005-10
9 LU Mei, WANG Quan_yu, WANG Li_quan, MENG Qing_xin(College of Mechanical and Electrical Engineering , Harbin Engineering University, Harbin 150001, China);Study of Teleoperating via LAN Control System of Underwater Manipulator[J];Journal of Harbin Engineering University;2002-05
10 LIU Zheng-shi~1,CHEN En-wei~1,GAN Fang-jian~2(1.School of Machinery and Automobile Engineering,Hefei University of Technology,Hefei 230009,China;2.Dept.of Precision Machinery and Precision Instrumentation,University of Science and Technology of China,Hefei 230052,China);Review of some methods for identifying inertial parameters of robots and their development[J];Journal of Hefei University of Technology(Natural Science);2005-09
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