Concurrency and Computation Practice and Experience,
Journal Year:
2022,
Volume and Issue:
34(21)
Published: May 24, 2022
Abstract
A
manipulator
is
a
complex
electromechanical
system
that
nonlinear,
strongly
coupled,
and
uncertain.
Achieving
its
precise
high‐quality
trajectory
control
difficult.
Sliding
mode
(SMC)
one
of
the
common
methods
for
manipulators.
However,
discontinuities
in
SMC
can
cause
jitter
vibration
system,
leading
to
reduction
performance
system.
For
self‐adaptive
capability
problem
SMC,
Dobot
magician
treated
as
research
object
this
article.
The
dynamics
equations
are
established
by
Lagrange
method,
simplified
model
constructed.
method
sliding
proposed.
Self‐adaptive
parameters
added
achieve
adjustment
parameters.
In
MATLAB/Simulink
simulation
environment
analysis
show
has
better
self‐tuning
ability
tracking
than
traditional
weakens
phenomenon
existing
SMC.
Concurrency and Computation Practice and Experience,
Journal Year:
2022,
Volume and Issue:
35(2)
Published: Nov. 6, 2022
Summary
As
the
development
of
deep
learning
and
continuous
improvement
computing
power,
as
well
needs
social
production,
target
detection
has
become
a
research
hotspot
in
recent
years.
However,
algorithm
problem
that
it
is
more
sensitive
to
large
targets
does
not
consider
feature‐feature
interrelationship,
which
leads
high
false
or
missed
rate
small
targets.
An
method
(C‐SSD)
based
on
improved
SSD
proposed,
replaces
backbone
network
VGG‐16
with
dense
convolution
(C‐DenseNet)
achieves
further
feature
fusion
through
fast
connections
between
blocks.
The
Introduction
residuals
prediction
layer
DIoU‐NMS
improves
accuracy.
Experimental
results
demonstrate
C‐SSD
outperforms
other
networks
at
three
different
image
scales
best
performance
83.
A
8%
accuracy
PASCAL
VOC2007
test
set,
proving
effectiveness
algorithm.
better
balance
speed
accuracy,
showing
excellent
rapid
Concurrency and Computation Practice and Experience,
Journal Year:
2023,
Volume and Issue:
35(8)
Published: Jan. 10, 2023
Summary
Sliding
mode
control
is
one
of
the
common
methods
for
manipulators,
but
discontinuity
sliding
can
cause
jitter
and
vibration
manipulator
system.
This
article
takes
Dobot
Magician
as
research
object
constructs
a
simplified
model
dynamics.
And
adaptive
fuzzy
method
designed
in
combination
with
theory,
which
effectively
solves
problem
torque.
In
MATLAB/Simulink
simulation
environment
analysis
show
that
proposed
good
stability,
robustness
tracking
performance.
By
combining
comparing
motion
time
same
trajectory
PID
Studio,
hardware
experiment
results
verify
feasibility
effectiveness
method.
Concurrency and Computation Practice and Experience,
Journal Year:
2022,
Volume and Issue:
34(21)
Published: May 24, 2022
Abstract
A
manipulator
is
a
complex
electromechanical
system
that
nonlinear,
strongly
coupled,
and
uncertain.
Achieving
its
precise
high‐quality
trajectory
control
difficult.
Sliding
mode
(SMC)
one
of
the
common
methods
for
manipulators.
However,
discontinuities
in
SMC
can
cause
jitter
vibration
system,
leading
to
reduction
performance
system.
For
self‐adaptive
capability
problem
SMC,
Dobot
magician
treated
as
research
object
this
article.
The
dynamics
equations
are
established
by
Lagrange
method,
simplified
model
constructed.
method
sliding
proposed.
Self‐adaptive
parameters
added
achieve
adjustment
parameters.
In
MATLAB/Simulink
simulation
environment
analysis
show
has
better
self‐tuning
ability
tracking
than
traditional
weakens
phenomenon
existing
SMC.
