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Journal articles on the topic 'Position controlled robot'
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1
Yi, Seung-Joon, Byoung-Tak Zhang, Dennis Hong, and Daniel D. Lee. "Whole-Body Balancing Walk Controller for Position Controlled Humanoid Robots." International Journal of Humanoid Robotics 13, no. 01 (March 2016): 1650011. http://dx.doi.org/10.1142/s0219843616500110.
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Bipedal humanoid robots are intrinsically unstable against unforeseen perturbations. Conventional zero moment point (ZMP)-based locomotion algorithms can reject perturbations by incorporating sensory feedback, but they are less effective than the dynamic full body behaviors humans exhibit when pushed. Recently, a number of biomechanically motivated push recovery behaviors have been proposed that can handle larger perturbations. However, these methods are based upon simplified and transparent dynamics of the robot, which makes it suboptimal to implement on common humanoid robots with local position-based controllers. To address this issue, we propose a hierarchical control architecture. Three low-level push recovery controllers are implemented for position controlled humanoid robots that replicate human recovery behaviors. These low-level controllers are integrated with a ZMP-based walk controller that is capable of generating reactive step motions. The high-level controller constructs empirical decision boundaries to choose the appropriate behavior based upon trajectory information gathered during experimental trials. Our approach is evaluated in physically realistic simulations and on a commercially available small humanoid robot.
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Engelbrecht, Duanne, Nico Steyn, and Karim Djouani. "Adaptive Virtual Impedance Control of a Mobile Multi-Robot System." Robotics 10, no. 1 (January 21, 2021): 19. http://dx.doi.org/10.3390/robotics10010019.
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The capabilities of collaborative robotics have transcended the conventional abilities of decentralised robots as it provides benefits such as scalability, flexibility and robustness. Collaborative robots can operate safely in complex human environments without being restricted by the safety cages or barriers that often accompany them. Collaborative robots can be used for various applications such as machine tending, packaging, process tasks and pick and place. This paper proposes an improvement of the current virtual impedance algorithm by developing an adaptive virtual impedance controlled mobile multi-robot system focused on dynamic obstacle avoidance with a controlled planar movement. The study includes the development of a mobile multi-robot platform whereby each robot plans a path individually without a supervisor. The proposed system would implement a two-layered hierarchy for robot path planning. The higher layer generates a trajectory from the current position to the desired position, and the lower layer develops a real-time strategy to follow the generated trajectory while avoiding static and dynamic obstacles. The key contribution of this paper is the adaptive virtual impedance controller for a multi-robot system that will maintain movement stability and improve the motion behaviour in a dynamic environment.
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Kamaludin, Muhamad, and Wahyu Sapto Aji. "Manuver Robot Manual Menggunakan PID pada Robot Manual KRAI 2018." Buletin Ilmiah Sarjana Teknik Elektro 1, no. 3 (December 30, 2019): 91. http://dx.doi.org/10.12928/biste.v1i3.978.
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Kontes robot ABU Indonesia mengusung tema ABU Robocon 2018 yaitu Bola Berkah. Dalam tema yang diusung, salah satu robot yang digunakan adalah robot manual yang berfungsi mengambil dan memberikan bola berkah kepada robot otomatis. Robot manual mengalami kesulitan dalam bergerak lurus ketika mengambil dan menyerahkan bola kepada robot otomatis. Ketika berada pada posisi pengambilan dan posisi penyerahan bola, robot yang menggunakan roda omniwheel tidak berada pada posisinya karena terdapat kelembaman. Penerapan Pengendali PID (Proporsional-Integral-Derivatif) yang mendapatkan nilai koreksi dari sensor Rotary Encoder merupakan salah satu solusi yang tepat untuk diimplementasikan pada robot manual. Dengan menggunakan Metode trial and error, PID yang dikembangkan dapat membuat pergerakan robot manual menjadi lebih efisien dan lebih mudah saat dikendalikan oleh operator. Robot Manual menggunakan mikrokontroler Arduino-Due. Hasil pengujian penerapan pada sistem menghasilkan akurasi gerak lurus robot sebesar 60 %, ketepatan posisi mencapai 88 % dengan menggunakan 50% kecepatan putar motor dan akurasi ketepatan posisi mencapai 75% dengan menggunakan 100% kecepatan putar motor.The ABU Indonesia robot contest carries the ABU Robocon 2018 theme, Blessing Ball. In the theme, one of the robots used is a manual robot that functions to take and give a blessing ball to the automatic robot. Manual robots have difficulty in moving straight when taking and handing the ball to an automated robot. When in the taking position and the ball handover position, the robot that uses the Omni wheel is not in position because there is inertia. The application of PID (Proportional-Integral-Derivative) controller which gets the correction value from the Rotary Encoder sensor is one of the right solutions to be implemented in manual robots. By using the trial and error method, the developed PID can make manual robot movements more efficient and easier when controlled by the operator. Manual Robot uses an Arduino-Due microcontroller. The results of testing the application of the system produce an accuracy of 60% straight robot motion, position accuracy reaches 88% using 50% motor rotational speed and accuracy of positioning accuracy reaches 75% using 100% motor rotational speed.
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Colbaugh, R., and K. Glass. "Decentralized adaptive compliance control of robot manipulators." Robotica 13, no. 5 (September 1995): 485–98. http://dx.doi.org/10.1017/s0263574700018324.
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SummaryThis paper presents two adaptive schemes for controlling the end-effector compliance of robot manipulators. Each controller possesses a decentralized structure, in which the control input for each configuration degree-offreedom (DOF) is computed based on information concerning only that DOF. The first scheme is developed using an adaptive impedance control approach and consists of two subsystems: a simple “filter” which modifies the end-effector position trajectory based on the sensed contact force and the desired dynamic relationship between the position and force, and an adaptive controller that produces the joint torques required to track this modified trajectory. The second compliant motion control strategy is an adaptive admittance controller for position-controlled manipulators. In this scheme a desired contact force is specified and then position setpoints for the “inner-loop” position controller are generated which ensure that this desired force is achieved. The proposed controllers are extremely simple computationally, do not require knowledge of the manipulator dynamic model or parameter values of the manipulator or the environment, and are implemented in decentralized form.
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Sekaj, Ivan, Ladislav Cíferský, and Milan Hvozdík. "Neuro-Evolution of Mobile Robot Controller." MENDEL 25, no. 1 (June 24, 2019): 39–42. http://dx.doi.org/10.13164/mendel.2019.1.039.
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We present a neuro-evolution design for control of a mobile robot in 2D simulation environment. The mobile robot is moving in unknown environment with obstacles from the start position to the goal position. The trajectory of the robot is controlled by a neural network – based controller which inputs are information from several laser beam sensors. The learning of the neural network controller is based on an evolutionary approach, which is provided by genetic algorithm.
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Trilokinath, Upadhyay Anand, and Santhosh Kumar Singh. "Enhanced Automaton Monitoring Method on Satellite Receiving Position." Indonesian Journal of Electrical Engineering and Computer Science 9, no. 2 (February 1, 2018): 289. http://dx.doi.org/10.11591/ijeecs.v9.i2.pp289-293.
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Security is an essential need of system and it is one of center innovation of remote controlled system. Robot checking arrangement of sea remote detecting satellite getting station incorporates robot, distributed computing system and remote terminals. Robot procures continuous picture of controlled system and works it; distributed computing system fabricate visual choice subsystem to recognize the objective utilizing wavelet change calculation, neural system calculation and learning database of components video of particular natural; utilizing remote terminal manager watches the controlled system through its scene test system and control robot to work it remotely. Utilizing innovation of the pseudo-irregular number secret word, innovation of shared verification to counteract cloning site, innovation of change between the picture of controlled system and its status code and innovation of transformation between operation codes and operation guidelines, the security quality of the robot observing system is enhanced incredibly.
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Del Prete, Andrea, Nicolas Mansard, Oscar E. Ramos, Olivier Stasse, and Francesco Nori. "Implementing Torque Control with High-Ratio Gear Boxes and Without Joint-Torque Sensors." International Journal of Humanoid Robotics 13, no. 01 (March 2016): 1550044. http://dx.doi.org/10.1142/s0219843615500449.
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This paper presents a complete framework (estimation, identification and control) for the implementation of joint-torque control on the humanoid robot HRP-2. While torque control has already been implemented on a few humanoid robots, this is one of the first implementations of torque control on a robot that was originally built to be position controlled (iCub [F. Nori, S. Traversaro, J. Eljaik, F. Romano, A. Del Prete and D. Pucci, iCub whole-body control through force regulation on rigid non-coplanar contacts, Frontiers in Robotics and AI 2 (2015).] and Asimo [O. Khatib, P. Thaulad and J. Park, Torque-position transformer for task control of position controlled robots, 2008 IEEE Int. Conf. Robotics and Automation, May 2008, pp. 1729–1734.] being the first two, to the best of our knowledge). The challenge comes from both the hardware, which does not include joint-torque sensors and presents large friction due to the high-ratio gear boxes, and the software interface, which only accepts desired joint-angle commands (no motor current/voltage control). The contribution of the paper is to provide a complete methodology that is very likely to be reproduced as most robots are designed to provide only position control capabilities. Additionally, the method is validated by exhaustive experiments on one leg of the robot, including a comparison with the original position controller. We tested the torque controller in both motion control and cartesian force control. The torque control can track better a reference trajectory while using lower values for the feedback gains (up to 25%). Moreover, we verified the quality of the identified motor models by analyzing the contribution of the feedforward terms of our torque controller, which dominate the feedback terms.
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Le, Luc Tien. "Passive Friction Compensation Using a Nonlinear Disturbance Observer for Flexible Joint Robots with Joint Torque Measurements." Journal of Computer Science and Cybernetics 35, no. 1 (March 18, 2019): 85–103. http://dx.doi.org/10.15625/1813-9663/35/1/13147.
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The friction and ripple effects from motor and drive cause a major problem for the robot position accuracy, especially for robots with high gear ratio and for high-speed applications. In this paper we introduce a simple, effective, and practical method to compensate for joint friction of flexible joint robots with joint torque sensing, which is based on a nonlinear disturbance observer. This friction observer can increase the performance of the controlled robot system both in terms of the position accuracy and the dynamic behavior. The friction observer needs no friction model and its output corresponds to the low-pass filtered friction torque. Due to the link torque feedback the friction observer can compensate for both friction moment and external moment effects acting on the link. So it can be used not only for position control but also for interaction control, e.g., torque control or impedance control which have low control bandwidth and therefore are sensitive to ripple effects from motor and drive. In addition, its parameter design and parameter optimization are independent of the controller design so that it can be used for friction compensation in conjunction with different controllers designed for flexible joint robots. Furthermore, a passivity analysis is done for this observer-based friction compensation in consideration of Coulomb, viscose and Stribeck friction effects, which is independent of the regulation controller. In combining this friction observer with the state feedback controller \cite{Albu-Schaeffer2}, global asymptotic stability of the controlled system can be shown by using Lyapunov based convergence analysis. Experimental results with robots of the German Aerospace Center (DLR) validate the practical efficiency of the approach.
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Suryowinoto, Andy, and Martian Wijayanto. "The prototype of A Forklift Robot Based on AGV System and Android Wireless Controlled for Stacked Shelves." International Journal of Artificial Intelligence & Robotics (IJAIR) 2, no. 1 (July 1, 2020): 1. http://dx.doi.org/10.25139/ijair.v2i1.2621.
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The paper aims to build a prototype of an automatic forklift robot that can collect and place goods in the stacking shelves, that are monitored remotely using an Android-based device. The method used is AGV (Automated Guided Vehicle) on this forklift robot prototype to adjust its positions, by following a line that preset trajectory for stacking shelf positions, where this forklift robot can collect and place goods. The robot navigation system uses a photodiode for the line follower system, and for storage of goods, it uses the proximity sensors detecting the presence of goods on miniature stacking goods and decide where it can store a good or not on that designated cell of the stacking shelf. The miniature of stacking shelves is two by three cells. The control of the robot has two input controllers. One is on a robot itself. The other was on handheld based on Android operating systems, which control remotely using the wireless system with Bluetooth protocol. The results of the discussion on paper, the forklift robot could manage the task given as the predefined line to a followed parameter of stacking shelves with two by three-stack configuration for collect and place goods into their positions, the average time for the robot to collecting and placing goods on stacking from standing still position to stacking shelf then back to the robot origin position. It resulted in the shortest processing time around 43 seconds and the longest time around 45,3 seconds from the start position to stacking shelf position.
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Fuse, Yotaro, and Masataka Tokumaru. "Navigation Model for a Robot as a Human Group Member to Adapt to Changing Conditions of Personal Space." Journal of Advanced Computational Intelligence and Intelligent Informatics 24, no. 5 (September 20, 2020): 621–29. http://dx.doi.org/10.20965/jaciii.2020.p0621.
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In the present paper, we propose a robotic model to help determine a robot’s position under the changing conditions of human personal space in a human-robot group. Recently, several attempts have been made to develop personal robots suitable for human communities. Determining a robot’s position is important not only to avoid collisions with humans but also to maintain a socially acceptable distance from them. Interpersonal space maintained by persons in a community depends on the particular context and situations. Therefore, robots need to determine their own positions while considering the positions of other persons and evaluating the changes made in their personal space. To address this problem, we proposed a robot navigation model and examined whether the experiment participants could distinguish the robot’s trajectory from the human’s trajectory in the experimental scenario. We prepared a scenario in which robots in a group needed to keep an appropriate distance in a three-dimensional space. The experiment participants provided their impressions on robot movements while watching the records representing the scenario. The results indicate that (1) a robot using the proposed model is able to follow the other group members and (2) the experiment participants were not sure whether the trajectories of the robots were controlled by humans and by the proposed model. Therefore, we conclude that the proposed model generates suitable trajectories in robot groups.
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Zhang, Bowei, and Pengcheng Liu. "Control and benchmarking of a 7-DOF robotic arm using Gazebo and ROS." PeerJ Computer Science 7 (March 23, 2021): e383. http://dx.doi.org/10.7717/peerj-cs.383.
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The robot controller plays an important role in controlling the robot. The controller mainly aims to eliminate or suppress the influence of uncertain factors on the control robot. Furthermore, there are many types of controllers, and different types of controllers have different features. To explore the differences between controllers of the same category, this article studies some controllers from basic controllers and advanced controllers. This article conducts the benchmarking of the selected controller through pre-set tests. The test task is the most commonly used pick and place. Furthermore, to complete the robustness test, a task of external force interference is also set to observe whether the controller can control the robot arm to return to a normal state. Subsequently, the accuracy, control efficiency, jitter and robustness of the robot arm controlled by the controller are analyzed by comparing the Position and Effort data. Finally, some future works of the benchmarking and reasonable improvement methods are discussed.
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Roudaut, Philipp. "Position indicator for a piston controlled robot part." Robotics and Computer-Integrated Manufacturing 10, no. 4 (August 1993): i. http://dx.doi.org/10.1016/0736-5845(93)90047-n.
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Passold, Fernando. "Applying RBF Neural Nets for Position Control of an Inter/Scara Robot." International Journal of Computers Communications & Control 4, no. 2 (June 1, 2009): 148. http://dx.doi.org/10.15837/ijccc.2009.2.2422.
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This paper describes experimental results applying artificial neural networks to perform the position control of a real scara manipulator robot. The general control strategy consists of a neural controller that operates in parallel with a conventional controller based on the feedback error learning architecture. The main advantage of this architecture is that it does not require any modification of the previous conventional controller algorithm. MLP and RBF neural networks trained on-line have been used, without requiring any previous knowledge about the system to be controlled. These approach has performed very successfully, with better results obtained with the RBF networks when compared to PID and sliding mode positional controllers.
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Cheng, Hongtai, and Hongfei Jiang. "Sensorless force estimation and control of Delta robot with limited access interface." Industrial Robot: An International Journal 45, no. 5 (August 20, 2018): 611–22. http://dx.doi.org/10.1108/ir-03-2018-0048.
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Purpose Delta robot is a parallel robot specifically designed for high-speed pick and place tasks. However, sometimes they are asked to perform additional assembling and squeezing actions, which is beyond the capability of position-controlled Delta robots. Force sensors may be expensive and add mass to the system. Therefore, the purpose of this paper is to study sensorless force control of Delta robots using limited access interface. Design/methodology/approach Static force analysis is performed to establish a relation between joint torques and external forces. The joint torques are observed from signals provided by motor drivers. A distributed mass model is proposed to compensate the gravity of upper arms and forearms. To minimize the effect of backlash and nonlinear frictions brought by gearboxes, model parameters are calibrated in two separated modes: “LIFTING” and “LOWERING”. Finally, a hybrid force estimation model is built to deal with both cases simultaneously. Surrogate model-based force control law is proposed to increase the force control loop rate and handle the force control problem for discrete position-controlled Delta robots. Findings The results show that the force estimation model is effective and mode separation can significantly improve the accuracy. The force control laws indeed stabilize the robot in desired states. Originality/value The proposed solution is based on position-controlled commercial Delta robot and requires no additional force sensor. It is able to extend Delta robots’ capability and meet requirements of emerging complex tasks.
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Chen, Gang, Wenqian Xu, Zixing Li, Yuqiang Liu, and Xin Liu. "Research on the Multi-Robot Cooperative Pursuit Strategy Based on the Zero-Sum Game and Surrounding Points Adjustment." Machines 9, no. 9 (September 3, 2021): 187. http://dx.doi.org/10.3390/machines9090187.
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Making full use of the cooperation of multi-robots can improve the success rate of apursuit task. Therefore, this paper proposes a multi-robot cooperative pursuit strategy based on the zero-sum game and surrounding points adjustment. First, a mathematical description of the multi-robot pursuit problem is constructed, and the zero-sum game model is established considering the cooperation of the pursuit robots and the confrontation between the pursuit robots and the escape robot. By solving the game model, the optimal movement strategies of the pursuit robots and the escape robot are obtained. Then, the position adjustment method of the pursuit robots is studied based on the Hungarian algorithm, and the pursuit robots are controlled to surround the escape robot. Based on this, a multi-robot cooperative pursuit strategy is proposed that divides the pursuit process into two stages: pursuit robot position adjustment and game pursuit. Finally, the correctness and effectiveness of the multi-robot cooperative pursuit strategy are verified with simulation experiments. The multi-robot cooperative pursuit strategy allows the pursuit robots to capture the escape robot successfully without conflicts among the pursuit robots. It can be seen from the documented simulation experiments that the success rate of the pursuit task using the strategy proposed in this paper is 100%.
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Brookfield, D. J., and Z. B. Dlodlo. "Robot torque and position control using an electrorheological actuator." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 212, no. 3 (May 1, 1998): 229–38. http://dx.doi.org/10.1243/0959651981539424.
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An electrorheological (ER) clutch driven from a constant speed motor provides a steady torque independent of shaft angle and can be controlled by control of the applied field. Such an actuator avoids the ‘cogging’ variation in torque observed in d.c. servo-motors and is thus well suited to robot control applications, particularly in view of the very rapid time response of ER clutches (≍ 10−3 s). However, the relationship between applied field and torque is difficult to model, being both non-linear and time varying. Whereas the non-linearity can be shown to be relatively small, the time-varying characteristic has remained a problem. In most controlled plants, a non-linear or time-varying characteristic can be mitigated by providing a closed control loop around the plant. A PID (proportional plus integral plus derivative)-based torque controller was developed and tested. This was shown to be stable with at least critical damping and to exhibit low steady state error. Design of the controller was facilitated by the identification of the open-loop transfer function of the ER actuator. The ER actuator with torque feedback was used to position a small robot link. A second PID control loop responding to the error in the link position and tuned using the standard Ziegler and Nichols method was designed and tested. A steady state error of less than 0.75 mm was achieved with a 2 per cent settling time of 2.0 s. Finally, the link position was controlled using a single-loop controller with no torque feedback and a similar steady state error achieved with a 2 per cent settling time of 1.4 s. It is argued that the ER torque actuator is ideally suited to the actuation of robot joints where precise smooth movement is required.
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Liu, Anxing, and Haisheng Yu. "Smooth-Switching Control of Robot-Based Permanent-Magnet Synchronous Motors via Port-Controlled Hamiltonian and Feedback Linearization." Energies 13, no. 21 (November 2, 2020): 5731. http://dx.doi.org/10.3390/en13215731.
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To solve the contradiction between dynamic performance and steady-state performance of the robot system, a smooth-switching control strategy is proposed. By combining robot and motor model, the complete model of the robot driving system is established. The single-loop Feedback Linearization (FL) controller and Port-Controlled Hamiltonian (PCH) controller based on the complete model are derived to ensure the rapidity and stability of the system respectively. A smooth-switching function based on position error is designed. It can ensure the smooth-switching between two controllers and avoid the instability caused by switch-switching. The proposed algorithm can make the robot system have good dynamic and steady performance. Simulation and experiment results demonstrate the effectiveness of the smooth-switch control strategy.
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Becerra, Héctor M., J. Armando Colunga, and Jose Guadalupe Romero. "Simultaneous convergence of position and orientation of wheeled mobile robots using trajectory planning and robust controllers." International Journal of Advanced Robotic Systems 15, no. 1 (January 1, 2018): 172988141875457. http://dx.doi.org/10.1177/1729881418754574.
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This article is devoted to the design of robust position-tracking controllers for a perturbed wheeled mobile robot. We address the final objective of pose-regulation in a predefined time, which means that the robot position and orientation must reach desired final values simultaneously in a user-defined time. To do so, we propose the robust tracking of adequate trajectories for position coordinates, enforcing that the robot’s heading evolves tangent to the position trajectory and consequently the robot reaches a desired orientation. The robust tracking is achieved by a proportional–integral action or by a super-twisting sliding mode control. The main contribution of this article is a kinematic control approach for pose-regulation of wheeled mobile robots in which the orientation angle is not directly controlled in the closed-loop, which simplifies the structure of the control system with respect to existing approaches. An offline trajectory planning method based on parabolic and cubic curves is proposed and integrated with robust controllers to achieve good accuracy in the final values of position and orientation. The novelty in the trajectory planning is the generation of a set of candidate trajectories and the selection of one of them that favors the correction of the robot’s final orientation. Realistic simulations and experiments using a real robot show the good performance of the proposed scheme even in the presence of strong disturbances.
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Qin, Ling, and Bo Lei. "Distributed Multiagent for NAO Robot Joint Position Control Based on Echo State Network." Mathematical Problems in Engineering 2015 (2015): 1–7. http://dx.doi.org/10.1155/2015/945493.
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Based on echo state networks, the joints position control of NAO robot is studied in this paper. The process to control the robot position can be divided into two phases. The senor parameters are released during the first phase. Depending on the dynamic coupling effect between the angle acceleration of passive joint and the torque of active joint, passive joint can be controlled indirectly to the desired position along the desired trajectory. The ESN control rules during the first phase are described and ESN controller is designed to control the motion of passive joint. The brake is locked during the second phase; then active joint is controlled to the desired position. The experimental control system based on PMAC controller is designed and developed. Finally, the joint position control of the NAO robot is achieved successfully by experiments. Echo state networks utilized incremental updates driven by new sensor readings and massive short memory with history inputs; thus varying communication rates can help imitate human upper limb motion based on wearable sensors to obtain human joint angles.
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Kiguchi, Kazuo, Shingo Kariya, Takakazu Bnaka, Keigo Watanabe, and Toshio Fukuda. "An Interface between an Exoskeletal Elbow Motion Assistance Robot and the Human Upper Arm." Journal of Robotics and Mechatronics 14, no. 5 (October 20, 2002): 439–52. http://dx.doi.org/10.20965/jrm.2002.p0439.
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We have been developing exoskeletal motion assistance robots for human motion support to help physically weak persons. Since elbow motion is one of the simplest and most important motion in daily activities, we have developed a exoskeletal robot for human elbow motion assistance. In this system, the angular position and impedance of the exoskeletal robot are controlled by multiple fuzzy-neuro controllers. Skin surface electromyography (EMG) signals and wrist force by the human subject during elbow joint motion have been used as input information for the controller. Since the activation of working muscles tends to vary with the human subject's upper arm posture, we propose an interface that cancels out the effect of posture changes of the human subject's upper arm. Experimental results show the effectiveness of the proposed interface.
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Lim, Joonhong, and Dong H. Chyung. "Resolved position control for two cooperating robot arms." Robotica 5, no. 1 (January 1987): 9–15. http://dx.doi.org/10.1017/s0263574700009589.
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SUMMARYThe problem of controlling two cooperating robot arms is investigated. The task is to move an object from one place to another by grasping it at two different points using two robot arms. The path of the object is determined first in the Cartesian coordinate system, and the corresponding joint variable trajectory is evaluated from the object path for each robot. Each robot is then position controlled so that it follows its joint variable trajectory. The method was successfully applied to two RHINO robot system.
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Wu, Nianxiang. "A Novel Control Method and Mathematical Model for Intelligent Robot." International Journal of Circuits, Systems and Signal Processing 15 (May 18, 2021): 486–93. http://dx.doi.org/10.46300/9106.2021.15.53.
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Hamiltonian method based on action micro-control is widely used in the control of mechanical arm synchronous motor. In order to realize the combination of robot dynamics and drive motor control, Hamiltonian control method is used in this paper to exploit a novel controller for robot, which can be used for better steady-state characteristics in the system. However, dynamic response of port-controlled Hamiltonian (PCH) of control system is slower, so the related control method is exploited and coordinated with the proportional-derivative (PD) plus gravity compensation. At this time, the system has both the fast dynamic response of the PD and the steady state of the PCH. The reverse motor method is used and the two controllers are combined by current conversion to realize the overall control of the robot and the drive motor. The robot drive motor is controlled, and the robot joint position control is combined with the drive motor current control by current conversion. It can be seen from the simulation results that the coordinately controlling the end position of robot can reach the desired position quickly and accurately. Moreover, compared with the separate control of PD plus gravity compensation and PCH control method, it is proved that this scheme has both a fast dynamic process and better performance and ability to resist load torque disturbance. So control method proposed in this paper has a good application prospect
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Neranon, Paramin, and Robert Bicker. "Force/position control of a robot manipulator for human-robot interaction." Thermal Science 20, suppl. 2 (2016): 537–48. http://dx.doi.org/10.2298/tsci151005036n.
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With regard to both human and robot capabilities, human-robot interaction provides several benefits, and this will be significantly developed and implemented. This work focuses on the development of real-time external force/position control used for human-robot interaction. The force-controlled robotic system integrated with proportional integral control was performed and evaluated to ensure its reliably and timely operational characteristics, in which appropriate proportional integral gains were experimentally adopted using a set of virtual crank-turning tests. The designed robotic system is made up of a robot manipulator arm, an ATI Gamma multi-axis force/torque sensor and a real-time external PC based control system. A proportional integral controller has been developed to provide stable and robust force control on unknown environmental stiffness and motion. To quantify its effectiveness, the robotic system has been verified through a comprehensive set of experiments, in which force measurement and ALTER real-time path control systems were evaluated. In summary, the results indicated satisfactorily stable performance of the robot force/position control system. The gain tuning for proportional plus integral control algorithm was successfully implemented. It can be reported that the best performance as specified by the error root mean square method of the radial force is observed with proportional and integral gains of 0.10 and 0.005 respectively.
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Nagata, Fusaomi, Keigo Watanabe, Satoshi Hashino, Hiroyuki Tanaka, Takuro Matsuyama, and Kenji Hara. "Polishing Robot Using Joystick Controlled Teaching." Journal of Robotics and Mechatronics 13, no. 5 (October 20, 2001): 517–25. http://dx.doi.org/10.20965/jrm.2001.p0517.
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In this article, an impedance model following force control, which uses a position/orientation compensator based on joystick-taught data, is proposed for an industrial robot with an open architecture controller. The present method has two characteristics: it is easily applied to the task where an industrial robot polishes an object with desired contact force and orientation and does not need conventional complicated teaching. The effectiveness and promise of the proposed method are demonstrated through experiments in a polishing task using an industrial robot FS-30.
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Shindo, Yuji, and Takao Wada. "Development of a Digitally-Controlled Servo Amplifier for Robots." Journal of Robotics and Mechatronics 6, no. 2 (April 20, 1994): 155–61. http://dx.doi.org/10.20965/jrm.1994.p0155.
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Kawasaki Heavy Industries, Ltd. has developed a digitally-controlled servo amplifier for robot servo motors. The motor's armature current, position and velocity are controlled by the software in a digital signal processor. The servo is designed for high reliability, performance, flexibility and compactness. To achieve these objectives, we developed an ASIC which controls PWM signals for power transistors and encoder signals. The servo amplifier is currently used in the new Kawasaki AD series of robot controllers.
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Thang Mai, Long, and Nan Yao Wang. "Adaptive-WFCNNs-backstepping force/motion control system for mobile-manipulator robot." Kybernetes 43, no. 2 (February 25, 2014): 281–306. http://dx.doi.org/10.1108/k-11-2013-0258.
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Purpose – The purpose of this paper is to improve the flexibility and tracking errors of the controllers-based neural networks (NNs) for mobile manipulator robot (MMR) in the presence of time-varying uncertainties. Design/methodology/approach – The conventional backstepping force/motion control is developed by the wavelet fuzzy CMAC neural networks (WFCNNs) (for mobile-manipulator robot). The proposed WFCNNs are applied in the tracking-position-backstepping controller to deal with the uncertain dynamics of the controlled system. In addition, an adaptive robust compensator is proposed to eliminate the inevitable approximation errors, uncertain disturbances, and relax the requirement for prior knowledge of the controlled system. Besides, the position tracking controller, an adaptive robust constraint-force is also considered. The online-learning algorithms of the control parameters (WFCNNs, robust term and constraint-force controller) are obtained by using the Lyapunov stability theorem. Findings – The design of the proposed method is determined by the Lyapunov theorem such that the stability and robustness of the control-system are guaranteed. Originality/value – The WFCNNs are more the generalized networks that can overcome the constant out-weight problem of the conventional fuzzy cerebellar model articulation controller (FCMAC), or can converge faster, give smaller approximation errors and size of networks in comparison with FNNs/NNs. In addition, an intelligent-control system by inheriting the advantage of the conventional backstepping-control-system is proposed to achieve the high-position tracking for the MMR control system in the presence of uncertainties variation.
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Romualdi, Giulio, Stefano Dafarra, Yue Hu, Prashanth Ramadoss, Francisco Javier Andrade Chavez, Silvio Traversaro, and Daniele Pucci. "A Benchmarking of DCM-Based Architectures for Position, Velocity and Torque-Controlled Humanoid Robots." International Journal of Humanoid Robotics 17, no. 01 (February 2020): 1950034. http://dx.doi.org/10.1142/s0219843619500348.
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This paper contributes toward the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent Component of Motion (DCM) and composed of three main layers: trajectory optimization, simplified model control, and whole-body quadratic programming (QP) control layer. While the first two layers use simplified robot models, the whole-body QP control layer uses a complete robot model to produce either desired positions, velocities, or torques inputs at the joint-level. This paper then compares two implementations of the simplified model control layer, which are tested with position, velocity, and torque control modes for the whole-body QP control layer. In particular, both an instantaneous and a Receding Horizon controller are presented for the simplified model control layer. We show also that one of the proposed architectures allows the humanoid robot iCub to achieve a forward walking velocity of 0.3372[Formula: see text]m/s, which is the highest walking velocity achieved by the iCub robot.
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Ozaki, Fumio, Makoto Jinno, Takashi Yoshimi, Kyoichi Tatsuno, Mikio Takahashi, Masakazu Kanda, Yasuhiko Tamada, and Shintaro Nagataki. "A Force Controlled Finishing Robot System with a Task-Directed Robot Language." Journal of Robotics and Mechatronics 7, no. 5 (October 20, 1995): 383–88. http://dx.doi.org/10.20965/jrm.1995.p0383.
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We have developed a force controlled robot system for finishing tasks such as grinding, chamfering, and polishing tasks in machining plants. Casted workpieces for finishing differ in size, shape, or both. Thus, a position controlled robot system cannot handle these workpieces. Force controlled robot systems can handle them because they can follow the edges or the surfaces of the workpieces using the force control function. Until now, however, the force controlled robot systems have been difficult to use for the following two reasons. One is that many force control. parameters-for example, a force control direction, a force detecting direction, a desired force pattern, and force control gains-have to be assigned in order to make the system work. The other is that you should be very careful to teach the robot to conduct a finishing task which needs contact between the robot and the workpiece. To cope with these issues, we have developed a task-directed robot language and also a controller with force controlled guide function. The robot language enables the force control parameters to be assigned with only three key parameters-a task name, a tool code, and a tool center point-, and one motion command. The force controlled guide function allows you to guide the robot easily in work environments without fear of collision. The experiment of chamfering the edges of a part in an injection molding machine is also reported.
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Baspinar, Cumhur. "Robust Position/Force Control of Constrained Flexible Joint Robots with Constraint Uncertainties." Journal of Intelligent & Robotic Systems 100, no. 3-4 (June 25, 2020): 945–54. http://dx.doi.org/10.1007/s10846-020-01220-1.
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AbstractA novel robust control method for simultaneous position/force control of constrained flexible joint robots is proposed. The facts that the uncertainties make the usual control task unsolvable and that the equations of the controlled system are differential-algebraic make the problem dealt with considerably demanding. In order to overcome the unsolvability problem due to the constraint uncertainties the position control task is redefined in a practical way such that only a suitable subgroup of the link positions are driven to their desired trajectories. To determine the elements of the subgroup a simple algorithm of practical relevance is proposed. Under certain smoothness conditions to the contact surfaces, it is demonstrated that the position control problem can dynamically be isolated from the force control. Thus, it becomes possible to handle the position and force control tasks separately. The most significant advantage of the separation of the position and force control tasks is that it makes possible to adapt the position control methods known from free robots. Each joint is used in either position control or force control. The proposed position controller has a cascaded structure: First, trajectories for joint positions that drive the link positions to their desired values are calculated. Then, the joint torques that drive the joint positions to their calculated values are determined. A further significant benefit of the separation of the position and force control tasks arises in the force control such that the transformed equations are linear and any linear robust control approach can be used for the force control. The whole controller requires the measurement of the link and joint positions, the link and joint velocities and the contact forces, and allows modeling uncertainties in the equations of both the robot dynamics and the contact surfaces. The proposed control method is also confirmed by simulations.
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Gao, Huan Bing, Shou Yin Lu, and Tao Wang. "A Dual-Arm Cooperating Physiotherapy Service Robot Based on Visual Position." Applied Mechanics and Materials 459 (October 2013): 222–27. http://dx.doi.org/10.4028/www.scientific.net/amm.459.222.
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This paper presents the scheme of a physiotherapy service robot including the mechanical architecture, control system, visual position system, etc. The robot can treat degenerative disease and chronic disease of middle-aged and aged people by Chinese massage skill, the main body of which includes a massage adjustable bed, two 4-DOF robot arms and two massage hands that can accomplish various massage manipulations. Two arms cooperate to improve the massage efficiency, and provide sufficient strength and enough reachable workspace for massage. The manipulators are controlled by a TRIO multi-axes motion controller and a embedded computer module. Physiological signal and massage pressure is detecting in real time in massage process to ensure a scientific and safe therapy. Vision System sends the recognized acupoint position to the master system to track the patients body, and the acupoint being massaged is displayed in real time by the 3D virtual display model. The robot can execute ten massage manipulations, which make traditional Chinese massage can have a robot instead. The effectiveness for degenerative lumbago in middle-aged and aged is demonstrated by laboratory examination and clinical trial.
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Lai, Jiing-Yih, Chia-Hsiang Menq, and Rajendra Singh. "Accurate Position Control of a Pneumatic Actuator." Journal of Dynamic Systems, Measurement, and Control 112, no. 4 (December 1, 1990): 734–39. http://dx.doi.org/10.1115/1.2896202.
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We propose a new control strategy for on-off valve controlled pneumatic actuators and robots with focus on the position accuracy. A mathematical model incorporating pneumatic process nonlinearities and nonlinear mechanical friction has been developed to characterize the actuator dynamics; this model with a few simplifications is then used to design the controller. In our control scheme, one valve is held open and the other is operated under the pulse width modulation mode to simulate the proportional control. An inner loop utilizing proportional-plus-integral control is formed to control the actuator pressure, and an outer loop with displacement and velocity feedbacks is used to control the load displacement. Also, a two staged feedforward force is implemented to reduce the steady state error due to the nonlinear mechanical friction. Experimental results on a single-degree-of-freedom pneumatic robot indicate that the proposed control system is better than the conventional on-off control strategy as it is effective in achieving the desired position accuracy without using any mechanical stops in the actuator.
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Huang, Peng, Chang Yun Miao, Li Jin Guo, and Ying Li. "Predictive Artificial Potential Field Method and its Application on Robot Soccer Path Planning." Applied Mechanics and Materials 48-49 (February 2011): 840–43. http://dx.doi.org/10.4028/www.scientific.net/amm.48-49.840.
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This paper presents a new predictive artificial potential field approach for robot soccer path planning under complex and uncertain environment. By predicting and analyzing the future position and attitude of concerned object, the position and attitude of the object is controlled by demonstration algorithm. The proposed method is successfully used in the robor soccer shooting and is realized on the MiroSot 3vs3 simulating platform. Experiment results show that this algorithm has good real-time ability and adaptability to environment.
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Kelemen, Michal. "DESIGN OF PUCK COLLECTING ROBOT." TECHNICAL SCIENCES AND TECHNOLOG IES, no. 4 (14) (2018): 178–82. http://dx.doi.org/10.25140/2411-5363-2018-4(14)-178-182.
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Urgency of the research. There is a need for service robots for cleaning, cutting the grass, vacuum cleaners, waste collectors etc. Service robots also can help with dangerous application like mine removing or inspection of dangerous places. Target setting. Puck collecting robot is designed for collecting of wood pucks in arena and bringing to home position. Actual scientific researches and issues analysis. Other similar task is collecting of products on production line in factory. Next possible application is collecting of any fruits or vegetable on plantation. Uninvestigated parts of general matters defining. The questions of the design of waste collecting robots are uninvestigated, because the next research will be focused to this. The research objective. Puck collecting competition is based on collecting of pucks of selected colour and bringing to home position of the same colour. Two wheeled concept of the robot with differentially driven wheels has been selected for high manoeuvrability on small place. The statement of basic materials. Locomotion System structure consist of undercarriage with two geared DC motors with rubber wheels with diameter 110 mm controlled via using of locomotion microcontroller. Puck collecting system includes mechanical collector with puck color sensor, home base color sensor, puck sorter and puck handling microcontroller. Conclusions. Key role of the solved robotic project is obtaining of practical experiences from the robot design and building. Robot developing is as perfect example of practical exercises. The robot is also designed as didactic tool for students training. The task of this mobile robot is similar to application in industry.
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Rincón-Martínez, Karla, Alberto Luviano-Juárez, Clara L. Santos-Cuevas, and Isaac Chairez. "Output feedback robust disturbance rejection tracking control design for a bipedal robotic system with articulation constraints." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 235, no. 6 (March 31, 2021): 992–1007. http://dx.doi.org/10.1177/0959651820939699.
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The design of an output-based robust disturbance rejection controller, aimed to solve the state tracking for the articulations of an experimental biped robot, was the main outcome of this study. The robust disturbance rejection controller included an auxiliary hybrid observer entailed to recover the angular velocity for each articulation. The estimated states served to perform the approximation of disturbances and non-modeled parts in the biped robot dynamics by implementing an extended state observer structure. The observer used the tracking position errors as input information, as well as considering the limb articular constraints, which are natural for biologically inspired biped robots. The effect of state constraints motivated the implementation of a hybrid observer with saturated output error injection. The controller design used the estimation of constraint velocity for solving the design of a tracking trajectory control to resolve the reproduction of the gait cycle by the bipedal robotic system. The Lyapunov stability theory served to obtain the laws which adjust the observer gains as well as to prove the ultimate boundedness of the tracking error as well. The evaluation of the suggested controller was realized on a numerical representation of the biped robot. These simulations illustrated the tracking performance of the hybrid robust disturbance rejection controller for all biped robot articulations in a decentralized structure. Experimental evaluations were also considered to validate the robust disturbance rejection controller design. A fully actuated biped robot was constructed and controlled by the robust disturbance rejection controller. The tracking results obtained by the robust disturbance rejection controller (in both the numerical and experimental evaluations) overcame the classical approach performances of diverse controllers as state feedback (proportional-derivative form) and regular robust disturbance rejection controller which did not consider the articulation constraints.
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Marchi, Tommaso, Giovanni Mottola, Josep M. Porta, Federico Thomas, and Marco Carricato. "Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector." Machines 9, no. 1 (January 11, 2021): 7. http://dx.doi.org/10.3390/machines9010007.
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Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in their motion and control with respect to rigid-platform parallel architectures, but their kinematics is more challenging to analyze. In our work, we consider n-RRR planar configurable robots, in which the end-effector is a chain composed of n links and revolute joints, and is controlled by n rotary actuators located on the base of the mechanism. In particular, we study the geometrical design of such robots and their direct and inverse kinematics for n=4, n=5 and n=6; we employ the bilateration method, which can simplify the kinematic analysis and allows us to generalize the approach and the results obtained for the 3-RRR mechanism to n-RRR robots (with n>3). Then, we study the singularity configurations of these robot architectures. Finally, we present the results from experimental tests that have been performed on a 5–RRR robot prototype.
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Marchi, Tommaso, Giovanni Mottola, Josep M. Porta, Federico Thomas, and Marco Carricato. "Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector." Machines 9, no. 1 (January 11, 2021): 7. http://dx.doi.org/10.3390/machines9010007.
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Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in their motion and control with respect to rigid-platform parallel architectures, but their kinematics is more challenging to analyze. In our work, we consider n-RRR planar configurable robots, in which the end-effector is a chain composed of n links and revolute joints, and is controlled by n rotary actuators located on the base of the mechanism. In particular, we study the geometrical design of such robots and their direct and inverse kinematics for n=4, n=5 and n=6; we employ the bilateration method, which can simplify the kinematic analysis and allows us to generalize the approach and the results obtained for the 3-RRR mechanism to n-RRR robots (with n>3). Then, we study the singularity configurations of these robot architectures. Finally, we present the results from experimental tests that have been performed on a 5–RRR robot prototype.
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Taha, Zahari, Abdelhakim Deboucha, and Azeddein Kinsheel. "Drilling Force Control for Robot Manipulator with Combined Rigid and Soft Surface." Applied Mechanics and Materials 303-306 (February 2013): 1741–47. http://dx.doi.org/10.4028/www.scientific.net/amm.303-306.1741.
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This paper presents an efficient force position control scheme for high precision drilling on soft surfaces using industrial robot. The control problem is divided into two parts; the gross motion control problem and the drilling control problem. In the gross motion stage the robot motion is controlled using computed torque technique. The drilling process is controlled using hybrid force position control that maintains the desired force and trajectory profiles. The soft surface is represented by single degree of freedom mass-spring-damper system. The performance of the system is tested using 6-dof PUMA 560 robot model.
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Rodriguez-Barroso, Alejandro, Roque Saltaren, Gerardo A. Portilla, Juan S. Cely, and Marco Carpio. "Cable-Driven Parallel Robot with Reconfigurable End Effector Controlled with a Compliant Actuator." Sensors 18, no. 9 (August 22, 2018): 2765. http://dx.doi.org/10.3390/s18092765.
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Redundancy in cable-driven parallel robots provides additional degrees of freedom that can be used to achieve different objectives. In this robot, this degree of freedom is used to act on a reconfigurable end effector with one degree of freedom. A compliant actuator actuated by one motor exerts force on both bodies of the platform. Due to the high tension that appears in this cable in comparison with the rest of the cables, an elastic model was developed for solving the kinestostatic and wrench analysis. A linear sensor was used in one branch of this cable mechanism to provide the needed intermediate values. The position of one link of the platform was fixed in order to focus this analysis on the relationship between the cables and the platform’s internal movement. Position values of the reconfigurable end effector were calculated and measured as well as the tension at different regions of the compliant actuator. The theoretical values were compared with dynamic simulations and real prototype results.
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Shao, Lei, Longyu Zhang, Abdelkader Nasreddine Belkacem, Yiming Zhang, Xiaoqi Chen, Ji Li, and Hongli Liu. "EEG-Controlled Wall-Crawling Cleaning Robot Using SSVEP-Based Brain-Computer Interface." Journal of Healthcare Engineering 2020 (January 11, 2020): 1–11. http://dx.doi.org/10.1155/2020/6968713.
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The assistive, adaptive, and rehabilitative applications of EEG-based robot control and navigation are undergoing a major transformation in dimension as well as scope. Under the background of artificial intelligence, medical and nonmedical robots have rapidly developed and have gradually been applied to enhance the quality of people’s lives. We focus on connecting the brain with a mobile home robot by translating brain signals to computer commands to build a brain-computer interface that may offer the promise of greatly enhancing the quality of life of disabled and able-bodied people by considerably improving their autonomy, mobility, and abilities. Several types of robots have been controlled using BCI systems to complete real-time simple and/or complicated tasks with high performances. In this paper, a new EEG-based intelligent teleoperation system was designed for a mobile wall-crawling cleaning robot. This robot uses crawler type instead of the traditional wheel type to be used for window or floor cleaning. For EEG-based system controlling the robot position to climb the wall and complete the tasks of cleaning, we extracted steady state visually evoked potential (SSVEP) from the collected electroencephalography (EEG) signal. The visual stimulation interface in the proposed SSVEP-based BCI was composed of four flicker pieces with different frequencies (e.g., 6 Hz, 7.5 Hz, 8.57 Hz, and 10 Hz). Seven subjects were able to smoothly control the movement directions of the cleaning robot by looking at the corresponding flicker using their brain activity. To solve the multiclass problem, thereby achieving the purpose of cleaning the wall within a short period, the canonical correlation analysis (CCA) classification algorithm had been used. Offline and online experiments were held to analyze/classify EEG signals and use them as real-time commands. The proposed system was efficient in the classification and control phases with an obtained accuracy of 89.92% and had an efficient response speed and timing with a bit rate of 22.23 bits/min. These results suggested that the proposed EEG-based clean robot system is promising for smart home control in terms of completing the tasks of cleaning the walls with efficiency, safety, and robustness.
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Tseng, Shih-Pang, Che-Wen Chen, Ta-Wen Kuan, Yao-Tsung Hsu, and Jhing-Fa Wang. "Fuzzy Obstacle Avoidance for the Mobile System of Service Robots." Wireless Communications and Mobile Computing 2020 (December 8, 2020): 1–11. http://dx.doi.org/10.1155/2020/8887547.
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This study implements Fuzzy logic-based obstacle avoidance and human tracking on an omnidirectional mobile system for service robots. The mobile system could be separated and combined with the robot which can be controlled remotely and switched to go forward and avoid obstacles in an indoor environment automatically. The system is able to track and go to the user according to the user’s position. The omnidirectional wheel was adapted in the power system to perform translating and spinning movements. The translating movement enables the robot to avoid obstacles faster and flexibly in paths. With the spinning movement, the robot can quickly find the direction of the object. Finally, the experiments show that the proposed system has good performance in service environments.
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Kalaycioglu, S., and A. Brown. "Adaptive hybrid force/position control for the Space Station Alpha robotic operations." Robotica 13, no. 6 (November 1995): 549–57. http://dx.doi.org/10.1017/s0263574700018622.
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SummaryThe Space Station Alpha is the most significant international space project of this century and the largest international technology development project ever undertaken. The space robot manipulators will be a substantial part of the space station and will perform tasks such as assembly as well as maintenance of the station. Therefore the robot manipulators need a very sophisticated real-time control capability for gross and fine motions (i.e. compliant motions) during various operations. Moreover, the proposed dual-arm robot system servicing the Space Station requires automated motion coordination, synchronization of the arms, and controlled mechanical interaction with fixed and moving objects involved in various tasks.
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Kubota, Keisuke, Masashi Sekiya, and Toshiaki Tsuji. "Robot-Assisted Eccentric Contraction Training of the Tibialis Anterior Muscle Based on Position and Force Sensing." Sensors 19, no. 6 (March 14, 2019): 1288. http://dx.doi.org/10.3390/s19061288.
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The purpose of this study was to determine the clinical effects of a training robot that induced eccentric tibialis anterior muscle contraction by controlling the strength and speed. The speed and the strength are controlled simultaneously by introducing robot training with two different feedbacks: velocity feedback in the robot controller and force bio-feedback based on force visualization. By performing quantitative eccentric contraction training, it is expected that the fall risk reduces owing to the improved muscle function. Evaluation of 11 elderly participants with months training period was conducted through a cross-over comparison test. The results of timed up and go (TUG) tests and 5 m walking tests were compared. The intergroup comparison was done using the Kruskal-Wallis test. The results of cross-over test indicated no significant difference between the 5-m walking time measured after the training and control phases. However, there was a trend toward improvement, and a significant difference was observed between the training and control phases in all subjects.
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Boubekri, Nourredine, and Sherif Waly. "A position control algorithm for a microcomputer controlled scara robot - part I." Computers & Industrial Engineering 19, no. 1-4 (January 1990): 477–80. http://dx.doi.org/10.1016/0360-8352(90)90163-g.
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Wen, Xiulan, Shun He, GuiFang Qiao, Dongxia Wang, Aiguo Song, ChuanShuai Kang, and Zhongyan Lv. "Uncertainty Estimation of Robot Geometric Parameters and End-Effecter Position Based on New Generation GPS." Mathematical Problems in Engineering 2019 (June 9, 2019): 1–11. http://dx.doi.org/10.1155/2019/7830489.
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The robot end-effecter positioning accuracy can be improved by the calibration of robot geometric parameters errors. According to the requirements of new generation geometrical product specification (GPS), the calibration uncertainty should be given when the calibration results are given. In this paper, the modified Denavit-Hartenberg method (MDH) of six-joint series robot is established and the joint movement trajectory method is applied to calibrate the robot geometric parameters. The uncertainty contributors significant are analyzed and the calibration uncertainty of robot geometric parameters is estimated based on the guide to the expression of uncertainty in measurement (GUM). In order to overcome the limitations of GUM for highly nonlinear model and reduce computational cost based on Monte Carlo Simulation (MCS) error estimation, an adaptive MCS (AMCS) is proposed to estimate the uncertainty distribution of robot end-effector position. Simulation and practical example are illustrated and the experiments results confirm that not only can the proposed method evaluate the calibration uncertainty of geometric parameters, but also the uncertainty distribution of end-effecter positions in the whole robot workspace can be estimated by AMCS in which the number of MCS trials can be selected adaptively and the quality of the numerical results can be controlled directly. The proposed method not only can evaluate the uncertainty of six-joint series robot geometric parameters and end-effecter position rapidly and accurately, but also can be popularized to the estimation of calibration uncertainty of other kinds of robot geometric parameters.
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Raiesdana, Somayeh. "Control of quadrotor trajectory tracking with sliding mode control optimized by neural networks." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 234, no. 10 (July 9, 2020): 1101–19. http://dx.doi.org/10.1177/0959651820932716.
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Quadrotor or unmanned helicopter is a mobile robot which often flies in unknown environment to perform special missions. In navigational tasks, the robot is intended to fly autonomously toward a target position by following an optimum trajectory. For a successful navigation, controlled attitude, minimum position and velocity error and obstacles collision avoidance are often considered during trajectory tracking procedure. By considering environmental variabilities and due to the existence of noises, uncertainties and unpredictable factors, it is indispensable to steer and control moving robots using sophisticated autonomous algorithms. In this work, a nonlinear model of four-rotor helicopter is simulated. An optimized terminal sliding mode control is then designed to control trajectory tracking. In order to improve the time indices for sliding mode controller, this controller is modified with neural networks. The idea is to optimize the controller parameters through a network learning process which is based on the control process error. The proposed method is evaluated with simulated and real-world indoor navigation tasks. Trajectories that are tracked by quadrotor are generated by a simultaneous localization and mapping algorithm and refined with an optimization technique. A well-known simultaneous localization and mapping technique (a camera-based extended Kalman filter-simultaneous localization and mapping) is employed to generate maps, and a path planning algorithm (particle swarm optimization) is utilized to optimize a collision-free flight path using the probability-based maps generated by simultaneous localization and mapping. Simulations and experiment are done in unknown but structured indoor environments containing a number of obstacles. The steady state error, the reaching and settle time and the chattering effect are all quantified and assessed. The controlled experimental flight robustness and sensitivity are further verified for noises occurred on vision and data acquisition system. Results indicate suitable performance for the proposed neural network-sliding mode controller. Less error and more stability were achieved comparative to the conventional sliding mode controllers.
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Kono, Kengo, and Norihiko Saga. "Development of a Passive Turn Type Skiing Robot with Variable Height Mechanism of Gravitational Center." Journal of Robotics and Mechatronics 24, no. 2 (April 20, 2012): 372–78. http://dx.doi.org/10.20965/jrm.2012.p0372.
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In recent years, sports engineering has become an active area of research. It has produced important contributions of many kinds in the development of sports. Ski turns have been investigated from various viewpoints such as the motion analysis of skiers and ski robots and dynamic simulation. Nevertheless, despite considerable research, the mechanisms of ski turns remain to be completely elucidated. Mechanical models derived using approximate expressions do not, furthermore, match alpine ski turns and results are therefore not reflected concretely. To facilitate theoretical considerations, a passive skiing robot was developed. Influences on ski turns, such as the position of the center-of-gravity, can be examined easily using this robot. In a passive turn type of ski robot, a difference in the turn cycle appeared in a difference in leg height. We noticed the influence of turning in the difference in the center-of-gravity height and appended mechanism to change the height of the legs to a passive turn type of ski robot in order to verify whether turns can be controlled by changing the position of the gravitational center. As described here, we examined ski turn dynamics to help skiers improve their athletic performance.
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Benallegue, Mehdi, and Florent Lamiraux. "Estimation and Stabilization of Humanoid Flexibility Deformation Using Only Inertial Measurement Units and Contact Information." International Journal of Humanoid Robotics 12, no. 03 (September 2015): 1550025. http://dx.doi.org/10.1142/s0219843615500255.
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Most robots are today controlled as being entirely rigid. But often, as for HRP-2 robot, there are flexible parts, intended for example to absorb impacts. The deformation of this flexibility modifies the orientation of the robot and endangers balance. Nevertheless, robots have usually inertial sensors inertial measurement units (IMUs) to reconstruct their orientation based on gravity and inertial effects. Moreover, humanoids have usually to ensure a firm contact with the ground, which provides reliable information on surrounding environment. We show in this study how important it is to take into account these information to improve IMU-based position/orientation reconstruction. We use an extended Kalman filter to rebuild the deformation, making the fusion between IMU and contact information, and without making any assumption on the dynamics of the flexibility. We show how, with this simple setting, we are able to compensate for perturbations and to stabilize the end-effector's position/orientation in the world reference frame. We show also that this estimation is reliable enough to enable a closed-loop stabilization of the flexibility and control of the center of mass (CoM) position with the simplest possible model.
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Carpio, Marco, Roque Saltaren, Julio Viola, Cristian Calderon, and Juan Guerra. "Proposal of a Decoupled Structure of Fuzzy-PID Controllers Applied to the Position Control in a Planar CDPR." Electronics 10, no. 6 (March 22, 2021): 745. http://dx.doi.org/10.3390/electronics10060745.
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The design of robot systems controlled by cables can be relatively difficult when it is approached from the mathematical model of the mechanism, considering that its approach involves non-linearities associated with different components, such as cables and pulleys. In this work, a simple and practical decoupled control structure proposal that requires practically no mathematical analysis was developed for the position control of a planar cable-driven parallel robot (CDPR). This structure was implemented using non-linear fuzzy PID and classic PID controllers, allowing performance comparisons to be established. For the development of this research, first the structure of the control system was proposed, based on an analysis of the cables involved in the movement of the end-effector (EE) of the robot when they act independently for each axis. Then a tuning of rules was carried out for fuzzy PID controllers, and Ziegler–Nichols tuning was applied to classic PID controllers. Finally, simulations were performed in MATLAB with the Simulink and Simscape tools. The results obtained allowed us to observe the effectiveness of the proposed structure, with noticeably better performance obtained from the fuzzy PID controllers.
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Ko, Tianyi, Kazuya Murotani, Ko Yamamoto, and Yoshihiko Nakamura. "Whole-Body Compliant Motion by Sensor Integration of an EHA-Driven Humanoid Hydra." International Journal of Humanoid Robotics 18, no. 01 (February 2021): 2150002. http://dx.doi.org/10.1142/s021984362150002x.
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Joints’ backdrivability is desired for robots that perform tasks contacting the environment, in addition to the high torque and fast response property. The electro-hydrostatic actuator (EHA) is an approach to realize force-sensitive robots. To experimentally confirm the performance of a biped robot driven by EHAs, we developed the fully electro-hydrostatically driven humanoid robot Hydra. In this paper, we evaluate the whole-body control performance realized by integrating encoders, pressure sensors, and IMU through a high-speed communication bus to the distributed whole-body control system. We report the first example of bipedal locomotion by an EHA-driven robot in both position-controlled and torque-controlled approaches. The robot could keep the balance even when the ground condition was changing impulsively and utilize its high joint backdrivability to absorb a disturbance by the null space compliance. We also report practical challenges in implementing compliant control in real hardware with limitations in parameter accuracy, torque, and response. We experimentally confirmed that the resolved viscoelasticity control (RVC), which has indirect feedback of operational space tasks by projecting the operational space feedback gain to the joint space one, was effective to tune a proper gain to stabilize the center-of-mass motion while avoiding joint-level oscillation invoked by the control bandwidth limitation. The attached multimedia file includes the video of all experiments presented in the paper.
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Gorobtsov, Alexander, Andrey Andreev, Alexey Markov, Andrey Skorikov, and Pavel Tarasov. "Features of solving the inverse dynamic method equations for the synthesis of stable walking robots controlled motion." SPIIRAS Proceedings 18, no. 1 (February 1, 2019): 85–122. http://dx.doi.org/10.15622/sp.18.1.85-122.
Full textAbstract:
The problem of walking robots controlled motion synthesis by the inverse dynamic method is considered. The inverse dynamic method equations are represented by the methods of multibody system dynamics as free bodies motion equations and constraint equations. The variety of constraint equations group are introduced to specify the robot gait, to implement the robot stability conditions and to coordinate specified robot links movement. The key feature of the inverse dynamic method equations in this formulation is the presence of the second derivatives of the system coordinates in the constraint equations expressing the stability conditions that ensure the maintenance of the vertical position by the robot. The determined solution of such equations in general case is impossible due to the uncertainty of the initial conditions for the Lagrange multipliers. An approximate method for solving the inverse dynamic without taking into account the inertial components in the constraint equations that determine the stability of the robot is considered. Constraint equations that determine the coordinate movement of individual robot links and required for unique problem solving based on approximate equations are presented. The implementation of program motion synthesis methods in the control system of the humanoid robot AR-600 is presented. The comparison of theoretical and experimental parameters of controlled motion is performed. It has been established that with the achieved high accuracy of the robot links tracking drives control with an error of several percent, the indicators of the robot's absolute movements, in particular, the angles of roll, yaw and pitch, differ from the programmed by 30-40%. It’s shown that proposed method allows to synthesize robot control in quasistatic mode for different movement types such as moving forward, sideways, walking on stairs, inclinations etc.