Académique Documents
Professionnel Documents
Culture Documents
!""
#
$% &
$ #
'(&
()(*+ (+ *+ & ,(
)-)
!" #
$ % $
&
'
(
) &
* & Ê
+ +*,,-.
#
/- #
./
-01 -,Æ
%- -
-( ' -
&
-(
Dynamics of
a robotic arm
Rocket , Missile
0 5 0 6
8 &
1 &
B 0 (
& &
Æ =
'(-"
(
&
/ 1
& & &
#
/
/ 0
& ( &
&
1 C
&
.
& &
1 &
&
34&
( & B?( &
&
5
&8
;
/ & '
1 '
;@
& $
&
1
1
& & &
&
&% -'
(
(
% 5 8
& 5 8(
( >D
& &
1
,&
1
&
& ( >3D<
*;
# "$# % & "!" 9
& 1
Input+ ,;;.,
---+-1_0 Controller
Measurement &
Filtering
Rs-232
USB
9
9
% E
/&
9 % E !@/&
6&
% E ;
@
#
& Æ % E GFF
#
& Æ % E GF
F
% E
(E
5
8
I
H 5;8
(' E
5 H 8
5 H 8
(' E ( H
5=8
! E (
4
& <4 5@8 " 1(
& &
) 1 & )
4
(' E ( H E ( H 5 )( H 8 E 5 )8( H
5@8
! E (
)E " 5'8
1
&
,
&
& 1 & &
$ 1
*( Æ & )
1
&
/ ,& ; 1
(
( . &(
1
%
&
( L
L & ( . & ( &
voltage gain1
g iris
tmod
o lcum
fil treleme
ENCODER num(s)
DAC
MASTER SETUP <len(s)
secim
from ca.meta DS1103ENC_ SETUP notch filter 0 S1103DAC_C1
voltage gain
1
/
Saial Receive
Terminatot2
DS1103SER_ RX
Serial Setup
DS1103SER_ SETUP
Unit Delay1
D
& &
1
.
. /
=
&"
0
&
& &
(
&&
-) &&
(
& &
&
&(
& &
1( 4&
&
&
0 3 -)
5@
8
&
&
1
/
& &
(
&
& $
1( &
(
& 4
&
L &
.
1
& & &
&
&
# ? '
&
52B8 1 M &
,& @ &
2B( . / /
4
&
1 /
5 0 8 / 3 &
(
&
& & . " &
&
1 .0 &
& 4
&&
1 &
0
% 3
& & . /
&
& 1
& & . & &
& / D
&
&
1 0
&
1( $
-
(
/ &
& 1
& 1
F
E
5-8
:(
(
D
0 . '@
0
)@
A &(
-'
1 &
&
0 %
3
& & . /
&
& 1
& /
& &
1
)@ 0&
&
1 /
& &
&
&
&
" 1
& (
( & &
&
/(
5 8 . ,
&
I Image Acquisition I
•
Select the search-spaces
with a mouse
•
l Select the cart
wit h a mouse
•
J
•
Extract the two search space
sub-images from ~
•
Convert the image to
black and wh ite using a
[ Compute the Sobel filtered J threshold
edge image
l i
Apply connected-components )
labeling to the image
•
Compute the corre lation between the
edge image and the cart model (wit h
•
various scales between 0 .8 and 1.2) Compute the center of gravity,
width, height and the orientation of
each compone nt
•
Detect the cart position based on
the maximum value of the
l Filter the components based o n
their w idth and height
correlation matrices
•
Predict the cart position fo r
each component based on
' the cog and the orientation
Select the component as the
pendulum if the predicted
cart position matches the -
~
I
detected cart position
•
Compute the velocity of the cart and
the angula r velocity of th e pendulu m
l
•
Compensate time delay by predicting the
cart position and the pendulum angle and
send the results to 0-space via serial port
f-----+I Image Acquisiton I
I
! 1 M
& & &
/ 1
&
&
&
2& &
( & >D B?( &
&
& & / &
'
'
& / % 2&
&
( &
>D B?
( &
& & 5 &8
-
3 &( '
( &
$
1
0 &
& 1 $ '
& / /
5 %
8
1
$ (
:(
0 / 3
/( H ( 0 1
/
(
E H I 5!8
1 4 & 0 (
5 8
E H 58
(
( ( (
&
&
&
(
(
&
1 $ &( (
_
........
UC-.. . . 1 -
-
..............
~
.. ..
.
....... -.-..0. ...
..........
----.....
~
._
_
---
"""".,_,
·-.....
" 3 2B
ID
!!!
t
0)
180.2
0)
0)
C
<{
E
::J
3
'O
C
0)
179.8
Q.
0 2 3 4 5 6 7 8 9 10
3
X 10-
8
ru
ID 6
-S
C
0
:E
4
(/)
0
Q.
t::
2
ro
0
0
0 2 3 4 5 6 7 8 9 10
Time (sec)
#
E
0
ID
~ 180.2
0)
0)
~
~
0) 180
C
<{
E
::J
3 179.8
'O
C
0)
Q.
0 2 3 4 5 6 7 8 9 10
X 10-3
0
~
ID
-S -2
C
Q
·-
(/)
0
o._ -4
t
ro
0
0 2 3 4 5 6 7 8 9 10
Time (sec)
$
E
0
!
ru
e!
Ol
Q) 180.2
::s.
Q)
0)
C: 180
<l'.
E
::,
:i
"O
C:
179.8
' .
Q)
Q_
0 2 3 4 5 6 7 8 9 10
X 10-3
'2' 0
Q)
a,
sC: -2
0
:;::;
.iii
0
Q_ -4
t
camera
8
0 2 3 4 5 6 7 8 9 10
Time (sec)
%
E
0
ru 190
e!
Ol
Q)
::s. 185
Q)
al
C:
<l'.
E 180
::,
:i
"O
C:
Q)
Q_ 175
0 2 3 4 5 6 7 8 9 10
0. 15
iii - - - sensor
ai - - - - camera
s
C:
0.1
0
~
(/)
0.05
I
0
Q_ C1
t: 0
u"'
0 2 3 4 5 6 7 8 9 10
Time (sec)
&
E
&
Æ
(
,&
$
&
0
?
.& 3
.&(
&
1
& & &
$
&
1 ,&
Q)
~
0)
Q)
E, 185
Q)
0)
C
<l: 180
E
::::J
"S
-0
C
Q) 175
a.. _.l_____J__j_ _I_
0 2 3 4 5 6 7 8 9 10
0.15
Q)
Q) 0.1
.s
C
Q 0.05
(/)
0
a.. 0
t
(0
0
-0.05
0 2 3 4 5 6 7 8 9 10
Time (sec)
E
X: 60.4
Y : 0.9:155
X: 35.7
• Y: 0.8234
Kc 0 Kc 2
0.8 0.8 •
0.6 0.6
C
0
i,i 04 0.4
1u
~
02 0.2
8
0
-0.2 -0. 2
-0 4 -0.4
-1000 -800 -EO0 -400 -200 200 400 600 800 1000 -1000 -800 -600 -400 -200 200 400 600 800 1000
Lag (msec ) Lag (msec)
D E E
D
&
&
<
2 5N8 1
*
'=
= ;
;!'
;
;@)
'
1
4 5
8 5
8
$
& 1
0 1
E
3
&'#() '"&*("+$ '"&*("+ &*+ 01+,&*+/"()
"#$% (*+,(
'-&))("&./'
*(,2+,' '"("+3'4 ,+'.)#"&./ $+)(% 5()&$("&./
,.1.'+$ ! +/$#)#* (/6)+ ** !*
'-7+*+
81' -(," 1.'&"&./ Æ
*'
!Æ
(6(/( (/$ !
.)9(18+)
81'
+/$#)#* (/6)+ !Æ !*' ! Æ
'1&/.9(:
;
+/$#)#* (/6)+
; ;
!*
<#+'($( +" () -(," 1.'&"&./ Æ
# (/$ . ! 81' +/$#)#* (/6)+ ; ; Æ
*
=(/6 +" () +/$#)#* (/6)+ ; *'
!81'
Æ
1
& ?
(
&
1
%
/ (
(
58 5 F
&8(
&(
(
&
1
1 ;
.
& &
& +
0&
& 3
(
9& :0L (
:(
&
(
&
1
* B
@6<
B?
)@
=- B?
=-9 1(
)@
=-
&
>D
B?
1
&
1(
& $ 3 &(
(
& B? ;
1 B? ;
B?
1(
B? ; (
&
1 -
(
& & &
B? & B? *
(
;-= 2 ( / -
1
& 4
1 &&
@
(
;@
1
(
1
&
%
)4 )
567 )444
)
.
/ ) ) * 3 E 2
& F < 0 (
)
./ ?) ) D *
* - ?) !) 2 - + 4 - !- C 1