Physical Parameter Estimation for Feedforward and Feedback Control of a Robot Arm with Elastic Joints

Oaki, Junji

doi:10.1016/j.ifacol.2018.09.182

Cited by 4 publications

(1 citation statement)

References 8 publications

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“…This kind of fault is generally less harmful, and many important nodes escaped this wave of obstacles because they were not affected. The network of systems can also recover quickly due to its lesser impact [15].…”

Section: Attackmentioning

confidence: 99%

Robustness of Civil Aviation Air Cargo Network Based on Scara Robot Dynamics Model

li,

Zhang

2023

Preprint

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As an integral part of the civil aviation network, the freight network is an indispensable and important channel in the logistics and transportation. As the construction of the cargo network continues to increase, the environment has become more complex. The challenges posed by its risks place higher demands on the robustness of the freight network. The improvement of network robustness, the establishment of preventive measures, and the stabilization of transportation network are the basis for health management and construction of aviation network. Therefore, in this paper, the robustness of the civil aviation air cargo network was deeply studied by combining the SCARA robot dynamics model. On the basis of the general situation of the development of the freight network, a basic understanding of the complex characteristics of the network structure was obtained. Then the robustness analysis provided support for the subsequent network optimization, and a robust controller was constructed using the dynamic model. Finally, the network state changes under random attack and selection attack were observed through simulation experiments. The simulation data has showed that the degree of change in the outer freight network after re-identification and optimization is very significant. The growth rates of the number of routes, average degree, network efficiency and clustering coefficient were 12.16%, 10.07%, 13.14% and 5.47%, respectively, the average path length also decreased by 4.63% due to the increase of isolated nodes. This shows that the optimal control under the SCARA robot dynamics model improves the overall robustness of the civil aviation air cargo network, which has important practical value for planning and improving the structure of the air cargo network, maintaining stable cargo transportation capacity, and improving logistics efficiency.

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Section: Attackmentioning

confidence: 99%