Article Per Year (5 Year)
p-Index From 2021 - 2026
0
P-Index
This Author published in this journals
All Journal Indonesian Journal of Electrical Engineering and Computer Science
Gao Guoqin
Jiangsu University

Published : 2 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 2 Documents
Search

 1 
Real-time Pose Measurement of Parallel Robot Based on GRNN Gao Guoqin; Zhang Zhigang; Niu Xuemei
Indonesian Journal of Electrical Engineering and Computer Science Vol 11, No 5: May 2013
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

The real-time pose measurement of parallel robot helps to achieve the closed loop pose control and improve the control and operating performance of parallel robot. But it is difficult to implement the real-time pose measurement directly. In order to solve the pose measurement problem of a 6-DOF parallel robot, the kinematics analysis of the parallel robot is made, and a Generalized Regression Neural Network  which has fast convergence and strong nonlinear mapping ability is established by setting the desired pose and its inverse kinematics results as the neural network training samples to implement the map of parallel robot from the joint variable space to the work variable space. Finally, the real-time pose measurement of parallel robot is achieved by using the trained neural network and the actual motion states of the active joints easily detected. The simulation experiment results show that the method of measuring the parallel robot pose based on the GRNN has the faster convergence rate and higher measurement accuracy than those of the BPNN and RBFNN methods. The research establishes the basis for the direct closed control of parallel robot pose. DOI: http://dx.doi.org/10.11591/telkomnika.v11i5.2455
Smooth Sliding Mode Control for Trajectory Tracking of Greenhouse Spraying Mobile Robot Gao Guoqin; Ren Yi; Zhou Haiyan; Fang Zhiming
Indonesian Journal of Electrical Engineering and Computer Science Vol 11, No 2: February 2013
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

For the spraying mobile robot working in greenhouse, due to the inconsistency of drive motors and the rough walking surface, it is easy to track off. For the liquidity of pesticide, the load always changes even the speed jumps. Because of these uncertainties, external disturbances and the difficulty of constructing the system dynamic model, it is hard to implement the trajectory tracking control of the spraying mobile robot steadily, precisely and quickly. In order to solve the problem, a smooth sliding mode trajectory tracking control method is proposed based on the distribute control strategy for each branch. Moreover, its stability is proved using the Lyapunov function. The simulation results show that the proposed method can track the reference trajectories precisely, quickly and steadily under the strong white noise. The chattering phenomenon of the control law is restrained compared to the conventional sliding mode control. The trajectory tracking performance is better than that of the fuzzy control. The designed method is easy to realize and doesn’t need to construct the precise mathematical model, so, it affords an economical and convenient control method for solving the trajectory tracking problem of the greenhouse spraying mobile robot under various uncertain interferences. DOI: http://dx.doi.org/10.11591/telkomnika.v11i2.1988
Co-Authors Fang Zhiming Niu Xuemei Ren Yi Zhang Zhigang Zhou Haiyan