北京联合大学机构知识库

成果/Result

Research on Master-Slave Coordinated Control Method of Dual-Arm Robot被引量：12收藏 分享

作者：Liu, Dexin Zhang, Jiancheng Li, Yuan

机构： Beijing Key Laboratory of Information Service Engineering; College of Robotics

来源：Lecture Notes in Electrical Engineering  2023

关键词：Constraint handling - Inverse problems - Robotic arms - Trajectories  

Two-loop Control of Harvesting Mechanical Arm base on Adaptive Input Shaping Algorithm被引量：12收藏 分享

作者：Sun, Mingming Liu, Dexin

机构： Basic Experimental Center for Natural Science; School of Automation and Electrical Engineering; Beijing Union University; College of Robotics

来源：Proceedings - 2022 International Conference on Virtual Reality, Human-Computer Interaction and Artificial Intelligence, VRHCIAI 2022  2022

关键词：Agricultural robots - Closed loop control systems - Computer control systems - Fruits - Harvesting - Vibrations (mechanical)  

Adaptive Input Shaping Control Based on RLS for Harvesting Mechanical Arm被引量：11收藏 分享

作者：Sun, Mingming Liu, Dexin

机构： Basic Experimental Center for Natural Science; School of Automation and Electrical Engineering; Beijing Union University; College of Robotics

来源：Proceedings of 2023 IEEE 12th Data Driven Control and Learning Systems Conference, DDCLS 2023  2023

关键词：Harvesting - Least squares approximations - Vibrations (mechanical)  

Structural design and gait simulation of bionic quadruped robot被引量：7收藏 分享

作者：Liu, Dexin Sun, Mingming Qian, Dianwei

机构： College of Robotics; Basic Experimental Center for Natural Science; School of Control and Computer Engineering

来源：International Conference on Advanced Mechatronic Systems, ICAMechS  2018

关键词：Robot programming - Structural design - Inverse kinematics - Mechanical actuators - Multipurpose robots - Cylinders (shapes) - Trajectories - Machine design  

Fuzzy-Inverse-Model-Based Networked Tracking Control Frameworks of Time-Varying Signals被引量：0收藏 分享

作者：Tong, Shiwen Qian, Dianwei Yuan, Keya Liu, Dexin Li, Yuan Zhang, Jiancheng

机构：Beijing Union Univ;North China Elect Power Univ

来源：IEEE-CAA JOURNAL OF AUTOMATICA SINICA  2024

采摘机械臂自适应输入整形控制研究被引量：0收藏 分享

作者：刘德馨 张建成 李媛 方建军

机构：北京联合大学机器人学院;北京联合大学城市轨道交通与物流学院

来源：《控制理论与应用》  2022

关键词：采摘机械臂  可变柔性负载  振动控制  自适应输入整形  

摘要：采摘机械臂在夹住柔性果茎后运输果实时,执行器末端的加减速运动使得果实在移动过程中产生摆动,易引发掉落,进而导致采摘失败.本文以单个西红柿作为负载,将果茎近似为柔性连杆.由于每一个果实的质量是不同的,因此,针对机械臂抓取可...