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Relevant bibliographies by topics / Independent joint control

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Academic literature on the topic 'Independent joint control'

Author: Grafiati

Published: 3 June 2025

Last updated: 19 July 2025

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Journal articles on the topic "Independent joint control"

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Emmanuel, C. Agbaraji, C. Inyiama Hyacinth, and C. Okezie Christiana. "Dynamic Modeling of a 3-DOF Articulated Robotic Manipulator Based on Independent Joint Scheme." Physical Science International Journal 15, no. 1 (2017): 1–10. https://doi.org/10.9734/PSIJ/2017/33578.

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Joint torque control of a robotic manipulator requires a close dynamic description model involving the non negligible dynamics of the subsystems making up the system. The mathematical model for joint torque control of the robotic manipulator has been identified as one of the major sources of failures of commercial robots. The manipulator is basically made up of links connected by joints, and the torque that moves the links connected to a joint is produced by the joint actuator and also in practice, the control law is fed into the actuator inputs, therefore the actuator dynamics becomes non negligible dynamics in the dynamic modeling of the manipulator for robust joint torque control. Hence, a complete dynamic model of the manipulator which involves the link dynamics plus actuator dynamics was proposed. This paper focuses on the modeling of a 3DOF articulated manipulator based on independent joint (decentralized) scheme and the determination of the viscous damping coefficient for the joint torque control model. The independent joint model provides closer mathematical description of the manipulator and also enhances robust controller design. Joint damping coefficient B, was determined through experiment based on bode plot of the open loop gain. From the results, it was concluded that joints I and II achieved the best performance when B is 0.001N.m/rad /sec and 0.01N.m/rad /sec respectively.

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Kim, Y. T. "Independent Joint Adaptive Fuzzy Control of Robot Manipulator." Intelligent Automation & Soft Computing 11, no. 1 (2005): 21–32. http://dx.doi.org/10.1080/10798587.2005.10642890.

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Byoung-Ho Kim, Byung-Ju Yi, Sang-Rok Oh, and Il Hong Suh. "Independent finger and independent joint-based compliance control of multifingered robot hands." IEEE Transactions on Robotics and Automation 19, no. 2 (2003): 185–99. http://dx.doi.org/10.1109/tra.2003.808846.

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Arenas-Rosales, Filemon, Fernando Martell-Chavez, Irma Y. Sanchez-Chavez, and Carlos A. Paredes-Orta. "Virtual UR5 Robot for Online Learning of Inverse Kinematics and Independent Joint Control Validated with FSM Position Control." Robotics 12, no. 1 (2023): 23. http://dx.doi.org/10.3390/robotics12010023.

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Virtual remote laboratories have already been successfully implemented in educational centers for practical learning of mechatronics and robotic systems. This article presents the development of a virtual articulated UR-type robot, designed as an educational tool that is suitable for programming and evaluating both the inverse kinematics control of the robot and the independent control of the robot joints. The 3D model of the virtual robot was developed in the Blender V2.79 software and uses the Modbus TCP industrial communication protocol for the communication to an external controller implemented in CoDeSys V3.5 software. The developed system allows the students to generate and test their own control algorithm for the robot joints with the visualization of the achieved performance in 3D and real time. Tailored control systems can be compared on the virtual robot. In this study, a novel technique for the joint position control based on an FSM is proposed and verified with the virtual UR5 robots to prove that the developed system is a suitable platform to teach and learn the inverse kinematics control and independent joint control of the UR5 robotic arm.

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Jinyue, LIU, ZHAO Rui, JIA Xiaohui, GUO Shijie, WU Xiaofeng, and GU Jianjun. "Underactuated Dexterous Hand with Independent Control of Finger Joint." Journal of Mechanical Engineering 56, no. 3 (2020): 47. http://dx.doi.org/10.3901/jme.2020.03.047.

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Barai, Ranjit Kumar, and Kenzo Nonami. "Locomotion control of a hydraulically actuated hexapod robot by robust adaptive fuzzy control and dead-zone compensation." Robotica 25, no. 3 (2006): 269–81. http://dx.doi.org/10.1017/s0263574706003067.

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SUMMARYThis investigation presents locomotion control of a hydraulically actuated six-legged humanitarian demining robot by robust adaptive fuzzy control in conjunction with the dead zone compensation technique within independent joint control framework. For proper locomotion of the demining robot, accurate tracking of the desired joint trajectory is very important. However, high degree of nonlinearity, the uncertainties due to changing hydraulic properties, and delay due to the flow of oil and dead zone of the proportional electromagnetic control valve results into an inaccurate plant model for the hydraulically actuated robotic joints. Consequently, model-based classical control techniques result into a large tracking error. Therefore, adaptive fuzzy control technique, being a model independent control paradigm for complex and uncertain systems, is a good choice for such systems. In this work, a hydraulic dead zone compensated robust adaptive fuzzy control law has been proposed for locomotion control of hydraulically actuated hexapod demining robot. The experimental results exhibit a fairly accurate trajectory tracking of the leg joints and, consequently, very stable locomotion of the walking robot.

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Bianco, Nicholas A., Patrick W. Franks, Jennifer L. Hicks, and Scott L. Delp. "Coupled exoskeleton assistance simplifies control and maintains metabolic benefits: A simulation study." PLOS ONE 17, no. 1 (2022): e0261318. http://dx.doi.org/10.1371/journal.pone.0261318.

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Assistive exoskeletons can reduce the metabolic cost of walking, and recent advances in exoskeleton device design and control have resulted in large metabolic savings. Most exoskeleton devices provide assistance at either the ankle or hip. Exoskeletons that assist multiple joints have the potential to provide greater metabolic savings, but can require many actuators and complicated controllers, making it difficult to design effective assistance. Coupled assistance, when two or more joints are assisted using one actuator or control signal, could reduce control dimensionality while retaining metabolic benefits. However, it is unknown which combinations of assisted joints are most promising and if there are negative consequences associated with coupled assistance. Since designing assistance with human experiments is expensive and time-consuming, we used musculoskeletal simulation to evaluate metabolic savings from multi-joint assistance and identify promising joint combinations. We generated 2D muscle-driven simulations of walking while simultaneously optimizing control strategies for simulated lower-limb exoskeleton assistive devices to minimize metabolic cost. Each device provided assistance either at a single joint or at multiple joints using massless, ideal actuators. To assess if control could be simplified for multi-joint exoskeletons, we simulated different control strategies in which the torque provided at each joint was either controlled independently or coupled between joints. We compared the predicted optimal torque profiles and changes in muscle and total metabolic power consumption across the single joint and multi-joint assistance strategies. We found multi-joint devices–whether independent or coupled–provided 50% greater metabolic savings than single joint devices. The coupled multi-joint devices were able to achieve most of the metabolic savings produced by independently-controlled multi-joint devices. Our results indicate that device designers could simplify multi-joint exoskeleton designs by reducing the number of torque control parameters through coupling, while still maintaining large reductions in metabolic cost.

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Yigit, Ahmet S. "On the Stability of PD Control for a Two-Link Rigid-Flexible Manipulator." Journal of Dynamic Systems, Measurement, and Control 116, no. 2 (1994): 208–15. http://dx.doi.org/10.1115/1.2899212.

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Controller design for a rigid-flexible two-link manipulator is considered. Robustness of independent joint PD control is investigated. It has been shown that the stability of independent joint PD control does not depend explicitly on the system parameters. No discretization or linearization of the equations of motion is required to assure the stability. Simulation studies also show that independent joint PD control gives reasonably good results for the flexible system, and is robust to parameter uncertainties.

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Picasso, Bruno, Xinglong Zhang, and Riccardo Scattolini. "Hierarchical Model Predictive Control of independent systems with joint constraints." Automatica 74 (December 2016): 99–106. http://dx.doi.org/10.1016/j.automatica.2016.07.030.

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MOGI, Shuto, AMAR Julien Samuel, Toshihiko SHIMIZU, Masayoshi OZAWA, Masahiko SAKAI, and Tadahiro OYAMA. "Design of Robot Finger with Independent Control of Each Joint." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2023 (2023): 1A1—F19. http://dx.doi.org/10.1299/jsmermd.2023.1a1-f19.

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Books on the topic "Independent joint control"

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United States. Congress. Commission on Security and Cooperation in Europe. Implementation of the Helsinki accords: Joint hearing before the Commission on Security and Cooperation in Europe and the Subcommittee on Africa of the Committee on Foreign Affairs, One Hundred Second Congress, first session : Conference on Security, Stability, Development, and Cooperation in Africa, July 30, 1991. U.S. G.P.O., 1992.

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Peterson, James W., and William J. Peterson. Political Dreams and Musical Themes in the 1848–1922 Formation of Czechoslovakia. The Rowman & Littlefield Publishing Group, 2023. https://doi.org/10.5040/9781978723245.

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Political Dreams and Musical Themes in the 1848–1922 Formation of Czechoslovakia: Interaction of National and Global Forces characterizes the 1918–22 formation of Czechoslovakia as a consequence of political and musical expressions. Nationalist expressions and formations were striking after the 1848 Revolution. The authors explore how the music of Smetana, Janácek, and Dvorák inspired people with reminders about the important achievements of past Bohemian leaders. Under the control of the Vienna-based Habsburg Empire, Czech leaders also achieved more political representation in both Habsburg and Bohemian legislatures, and Slovaks made some national progress in at least asserting their demands to Budapest and its controlling Magyar Empire. During the early twentieth century, there was additional pressure to link up these nationalist movements in both music and politics with regional “modernist” approaches that were increasingly popular in other parts of Europe. The outbreak of World War I in 1914 opened up opportunities, such as joint participation in the Czechoslovak Legion, for the two key ethnic groups to forge a Czechoslovak state. Independence took place, with considerable western support, on October 28, 1918, and the commemorative concert two days later of compositions by Josef Suk put the final stamp on a considerable achievement that bore the hallmarks of globalism as well as nationalism.

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Book chapters on the topic "Independent joint control"

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Tran, Manh Son, Nhat Binh Le, Van Trong Nguyen, Dac Chi Dang, Eun Ho Choi, and Young Bok Kim. "Independent Joint Control System Design Method for Robot Motion Reconstruction." In Lecture Notes in Electrical Engineering. Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-69814-4_60.

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Yin, Jingyuan, Tongzhen Wei, Song Wang, Hao Lu, and Qunhai Huo. "New Five-Level PV and Energy Storage Converter with Independent MPPT Control." In Conference Proceedings of the 2023 3rd International Joint Conference on Energy, Electrical and Power Engineering. Springer Nature Singapore, 2024. http://dx.doi.org/10.1007/978-981-97-3940-0_7.

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Gyarmaty, Jane, Carolina Carmona, Gina Clark, Heidi Roth, and Mike Ellis. "An Overview of Mechatronic Evaluation and Intervention Strategies Targeting Loss of Independent Joint Control in Early Stroke Recovery." In Biosystems & Biorobotics. Springer Nature Switzerland, 2024. https://doi.org/10.1007/978-3-031-77584-0_45.

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Bullock, Daniel, and Stephen Grossberg. "SPINAL NETWORK COMPUTATIONS ENABLE INDEPENDENT CONTROL OF MUSCLE LENGTH AND JOINT COMPLIANCE." In Advanced Neural Computers. Elsevier, 1990. http://dx.doi.org/10.1016/b978-0-444-88400-8.50045-5.

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Varona, Edurne Navarro, Andres Font Galarza, Jaime Folguera Crespo, and Juan Briones Alonso. "The Meaning Of The Concept Of Concentration." In Merger Control In The European Union. Oxford University PressOxford, 2005. http://dx.doi.org/10.1093/oso/9780199276059.003.0002.

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Abstract Recital 20 of Regulation 139/2004 defines concentrations in such a manner as to cover operations bringing about a lasting change in the control of the undertakings concerned and therefore in the structure of the market. The principle of Recital 20 is explained and developed in the five paragraphs of Article 3 of the new Merger Regulation. Paragraph 1 distinguishes between two general methods of concentration: mergers and takeovers. Paragraph 4 deals with joint ventures, and states that those that carry out the functions of an independent economic entity on a permanent basis are concentrations. Paragraphs 2 and 3 define the concept of control.

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Marco Colino, Sandra. "20. The UK merger control regime and the treatment of joint ventures." In Competition Law of the EU and UK. Oxford University Press, 2019. http://dx.doi.org/10.1093/he/9780198725053.003.0020.

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This chapter discusses the application of competition law to mergers, focusing on the UK system. Where a relevant merger situation is created, the Competition and Markets Authority (CMA) has the power to review the merger. Unlike in the EU, notification is not compulsory. The CMA may clear the merger, clear it subject to conditions, or refer it for further consideration to an independent Inquiry Group made up of members of the CMA Panel. The Inquiry Group may clear the merger, clear it subject to conditions, or block it. The test of a merger’s acceptance is that of whether it substantially lessens competition. UK merger decisions may be appealed to the Competition Appeals Tribunal.

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Azar, Ahmad Taher, and Fernando E. Serrano. "Stabilization and Control of Mechanical Systems with Backlash." In Handbook of Research on Advanced Intelligent Control Engineering and Automation. IGI Global, 2015. http://dx.doi.org/10.4018/978-1-4666-7248-2.ch001.

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Backlash is one of several discontinuities found in different kinds of systems; it can be found in actuators of different types, such as mechanical and hydraulic, giving way to unwanted effects in the system behavior. In this chapter, three different control approaches are derived to stabilize mechanical systems in which this phenomenon is present in the actuators of the system. First, an independent joint control approach when backlash is found in the actuators is derived; then a PI loop shaping control design implementing a describing function to find the limit cycle oscillations and the appropriate control gain is developed. Finally, an optimal controller for mechanical systems with backlash is derived, obtaining the optimal control law and oscillations frequency when this nonlinearity is found implementing a describing function to model the backlash effects.

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Zelei, Ambrus. "Non-Square Inverse Function Jacobians in Controlled Multibody Systems: Numerical and Application Examples." In Advances in Transdisciplinary Engineering. IOS Press, 2024. http://dx.doi.org/10.3233/atde240534.

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When control algorithms of robots are constructed, the joint coordinates and the coordinates describing the dynamics might be different and the transformation between them might be necessary in both directions. The back-and-forth transformations are related to the inverse function theorem, which is well understood for single and multivariable continuous functions: the conditions are described under which the inverse function exist, furthermore the method is provided to calculate the Jacobian of the inverse function. A generalization of the theorem is necessary, when there are fewer dependent variables than independent ones, and furthermore there are constraint equations for the independent variables. It is exactly the case for model-based inverse dynamics control of multibody systems, when the dynamic model is given in terms of a redundant coordinate set, but the controller is formulated for minimum set coordinates. The widely used so-called natural coordinates are a typical redundant set. Minimum-coordinates come in the picture when the control is formulated for the joint coordinates. Clearly, when the natural coordinates are transformed to joint coordinates, there is information loss. The inverse transformation is however still possible, since there are constraint equations for the redundant set. This paper demonstrates a method for the transformation from minimum to redundant coordinates and vice versa with the help of the generalized inverse of the non-square constraint Jacobian and the projection matrices related to the constrained and admissible subspace of the redundant set. An illustrative numerical example and a robotic application demonstrate the theory. The results are relevant in the model-based control of complex-structure parallel kinematic chain robots.

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Hasan, Rafeeq. "Kant on Right." In The Oxford Handbook of Kant. Oxford University Press, 2024. http://dx.doi.org/10.1093/oxfordhb/9780198854586.013.19.

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Abstract This chapter explains Kant’s theory of Recht—a word that encompasses in translation ‘right’, ‘law’, and ‘justice’. It focuses on two of the theory’s central claims. First, that persons have a right to be independent of others’ control. Second, that independence requires a system of rights, a system which can only be realized through joint membership in the state. Combining these two claims yields an unexpected result: it is the very independence of persons which requires them to become cooperating citizens. In elucidating this idea, the chapter treats Kant’s views on topics such as: freedom of choice and action, the relation between natural rights and positive law, and the role played by both private property and economic redistribution in realizing independence. It also argues that careful attention to Kant’s theory of right warrants major revisions to the traditional understanding of Kantian morality. Against the standard picture of the Kantian moral agent as reasoning entirely on their own, the chapter suggests that for Kant, properly enacting one’s moral duties actually requires collective political institutions. I cannot fulfil my moral duty to aid you unless the law has settled what is mine to give. Kant thus joins an illustrious line of thinkers in treating man as a political animal.

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Nedyalkova, Plamena, Darina Dimitrova, and Hristosko Bogdanov. "Redefining Global Economic Thinking for the Welfare of Society." In Advances in Finance, Accounting, and Economics. IGI Global, 2022. http://dx.doi.org/10.4018/978-1-7998-8258-9.ch003.

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This chapter examines the legal and financial control issues regarding compliance with labor legislation. On the one hand, the legal analysis shows that legislation is one of the main factors influencing the financial control practice for compliance with labour legislation. On the other hand, the problems and specifics of the control procedures applied by the General Labor Inspectorate Executive Agency in Bulgaria are presented. The overall inspection process is presented sequentially, analyzing the individual stages that the control procedures go through. The problems and the specifics of carrying out an independent inspection activity by the agency are presented, and the peculiarities of carrying out joint control activities with executive bodies or their administrative structures by the specialized administration are examined. Different types of factors that influence the implementation of control procedures by the General Labor Inspectorate Executive Agency in Bulgaria are considered.

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Conference papers on the topic "Independent joint control"

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Ren, Bo-Wen, Xiaoluo He, and Alex M. H. Wong. "A Novel Full-Space Metasurface with Four Channels of Independent Control." In 2024 IEEE INC-USNC-URSI Radio Science Meeting (Joint with AP-S Symposium). IEEE, 2024. http://dx.doi.org/10.23919/inc-usnc-ursi61303.2024.10632476.

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Xu, Keshuai, Jintan Zhang, Laeben Lester, Jeeun Kang, and Emad Boctor. "Vendor-independent Non-intrusive Synchronization Signals Capture from Clinical Ultrasound Machines." In 2024 IEEE Ultrasonics, Ferroelectrics, and Frequency Control Joint Symposium (UFFC-JS). IEEE, 2024. https://doi.org/10.1109/uffc-js60046.2024.10793930.

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Beuret, Samuel, and Jean-Philippe Thiran. "Using Windowed Radon Transform to Measure Local Coherence Independently of Speed-of-Sound Variations in Plane-Wave Imaging." In 2024 IEEE Ultrasonics, Ferroelectrics, and Frequency Control Joint Symposium (UFFC-JS). IEEE, 2024. https://doi.org/10.1109/uffc-js60046.2024.10793873.

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Chiacchio, Pasquale, Lorenzo Sciavicco, and Bruno Siciliano. "Practical Design of Independent Joint Controllers for Industrial Robot Manipulators." In 1992 American Control Conference. IEEE, 1992. http://dx.doi.org/10.23919/acc.1992.4792294.

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Meicenheimer, Heidi, Ephraim Gutmark, C. Carter, Dean Eklund, Mark Gruber, and K. Hsu. "Independent Stage Control of a Cascade Injector." In 41st AIAA/ASME/SAE/ASEE Joint Propulsion Conference & Exhibit. American Institute of Aeronautics and Astronautics, 2005. http://dx.doi.org/10.2514/6.2005-3708.

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Chang, Chen-Tien, Han-Pang Huang, and Jiun-Yih Kuan. "Independent Joint Sliding Mode Control of a Humanoid Robot Arm." In IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society. IEEE, 2007. http://dx.doi.org/10.1109/iecon.2007.4460388.

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Schollig, Angela, Javier Alonso-Mora, and Raffaello D'Andrea. "Independent vs. joint estimation in multi-agent iterative learning control." In 2010 49th IEEE Conference on Decision and Control (CDC). IEEE, 2010. http://dx.doi.org/10.1109/cdc.2010.5717888.

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Zhao, Chunhui, Furong Gao, Tao Liu, and Fuli Wang. "Improved independent component regression modeling." In 2009 Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC). IEEE, 2009. http://dx.doi.org/10.1109/cdc.2009.5399563.

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ElBeheiry, ElSayed M., Ahmed S. Zaki, and Waguih H. ElMaraghy. "A Unified Approach for Independent Manipulator Joint Acceleration Control and Observation." In ASME 2003 International Mechanical Engineering Congress and Exposition. ASMEDC, 2003. http://dx.doi.org/10.1115/imece2003-42608.

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The ultimate goal of a manipulator control design is to combine the design of both the controller and the observer into one procedural approach. Hence, the stability of the global system, namely, the manipulator dynamics, controller, and observer is guaranteed. This paper presents a new, unified approach in combining the control and observation problem for robotic manipulators. It links the design of an independent joint acceleration controller to the design of a variable structure state observer that is used to estimate the joint acceleration. Since both the joint acceleration controller and the observer introduced in this paper are likely to implement high gains to improve tracking, the effects of the time delay between the measurement of the output and the control loop response has been investigated. The observer design also considers the observation robustness against unknown but bounded disturbances using the theory of variable structure systems. A simulation study to investigate the performance of the joint acceleration controller and observer is conducted on a PUMA 560 robot. Simulation results showed that the proposed combination of observer and controller are robust to the change in the payload and small time delays.

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Muse, D., K. Burn, and S. Wermter. "Reinforcement Learning for Platform-Independent Visual Robot Control." In The 2006 IEEE International Joint Conference on Neural Network Proceedings. IEEE, 2006. http://dx.doi.org/10.1109/ijcnn.2006.247094.

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Reports on the topic "Independent joint control"

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EFFECT OF RANDOM PRE-STRESSED FRICTION LOSS ON THE PERFORMANCE OF A SUSPEN-DOME STRUCTURE. The Hong Kong Institute of Steel Construction, 2022. http://dx.doi.org/10.18057/ijasc.2022.18.1.5.

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The key to the high-efficiency performance of the suspen-dome structure is to apply the pre-stressed design value to the structure accurately. However, engineering practice has found that the use of tensioning hoop cables to apply the pre-stress will produce noticeable pre-stressed friction loss (PFL), which significantly affects the safety performance of the structure. In this paper, based on a 1:10 scaled-down experiment model of a suspen-dome structure with rolling cable-strut joint installed, the random PFL (RPFL) effect of the suspen-dome on structure performance was analyzed through a probability statistics theory. First, aiming at the unequal tensioning force at both sides of the tensioned hoop cable during the tensioning process, a pre-stressed force calculation method is proposed that considers the unequal tensioning control force and RPFL at all cable–strut joints, and the reliability of this method is verified through a tension test. Then, based on the cable-joint tension test carried out in the early stage of the research group, a random mathematical model of the friction coefficient (FC) at the rolling cable–strut joint is established. And then, the cable force calculation method is used to establish the random finite element model, and independent and random changes in the FC at each rolling cable–strut joint can be considered. Subsequently, the Monte Carlo method is used to calculate the random mathematical characteristics of the mechanical performance parameters such as the member stress and joint deformation, and the obtained results are verified through a static loading experiment. In addition, to investigate the effect of random defects on structural stability, other random defects, such as the initial curvature and installation deviation, were continuously introduce based on the random finite element model. As such, we could obtain the law of the effect of multi-defect random variation coupling on the structure’s ultimate bearing capacity.

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