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In visual servo system, there are problems on time delay by image processing and difference between image processing period and control period. In order to overcome these problems, the estimated image feature applied to a fixed camera has been proposed. Since the compensation of delay utilizes image Jacobian matrices which represent geometric models of manipulator and camera, it is affected by their...
This paper introduces tracking control system with visual feedback to a moving target using a measurement device we developed. In order to recognize the moving object, we use two algorithm, one is the cross-shape mark algorithm and the other is orientation code matching algorithm. Then, the measurement device consists of the PID control system with extended Kalman filter in order to decrease the time...
This paper proposes power-assist motion control of an electric wheelchair for a caregiver. Previous researches about power-assist motion of a wheelchair took operators as an object of study. But caregivers are aging as well as cared people due to growing proportion of elderly people. For detection of the caregiver's input, the reaction acceleration estimation observer is constructed. The motion of...
A new actuator system, flexible actuator (FA) is proposed in this paper. FA consists of direct drive motor and thrust wire. Thrust wire is composed of polyethylene tube and stainless-steel stranded wire. The stainless-steel stranded wire moves back and forth in the tube, and force is transmitted from actuator to end-effector. Since thrust wire has flexibility with high performance of force transferability,...
Recent machines are hoped to have haptic ability to work in open environments where it changes dynamically. Haptics is a technology for touching an object. Nowadays, teleoperation is utilized in many areas such as medical care and space exploration. Teleoperation systems enable operator to undertake precisework in inaccessible or hazardous environment. Among much research about teleoperation, bilateral...
This paper presents a user-friendly hand force feedback system to recognize surrounding obstacles around the elderly to making walking safer. The system is implemented on a joystick mounted on a walker. The user is able to recognize the surrounding spatial information from the repulsive force generated as feedback on the joystick. The system is based on the generation of a virtual potential field...
This paper deals with a study on reconfigurable robots. Firstly, the concept of the reconfigurable robot is described. Secondly, construction of the distributed robot control system consisting of local- and central intelligence is explained. Then the authors propose virtual velocity transmission algorithm (VVTA) as the best-suited control scheme for this system, and finally confirm by simulation the...
In this paper, application of a robust control scheme to a cooperating robotic system consisting of two 5 DOF (RRRRR) robot manipulators is proposed. The considered dual system is used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The appropriate path is designed to start and end with the lowest velocity and acceleration at the desired...
The objective of this paper is to introduce a TSK (Takagi-Sugeno-Kang) fuzzy model-based servo control design approach for an active oscillation suppression stage using triple configuration of hybrid electromagnets as active force generators. Furthermore, the authors apply zero order disturbance observers to estimate not only velocities but also equivalent external disturbance acting on gap clearance...
Humanoid robotics attracted the attention of many researchers in the past 35 years. The motivation of research is the suitability of the biped structure for tasks in the human environment. The control of a biped humanoid is a challenging task due to the hard-to-stabilize dynamics. Walking reference trajectory generation is a key problem. A criterion used for the reference generation is that the reference...
Bilateral teleoperation has been needed in many scenes such as space activities or undersea, work on a atomic power plant and minimally invasive surgery, etc. In bilateral teleoperation, transfer of keen tactile sense as if the operator directly touch the environment without using the robot is required. Wide frequency bandwidth of force sensing is required to achieve transfer of a keen tactile sensation...
This paper deals with an assist control on a haptic interface to promote operator's skill based on a new concept of a human-in-the-loop system called human adaptive mechatronics (HAM). HAM is an intelligent machine which adapts to human, improves his/her skill, and enhances total performance of total man-machine system. The proposed assist-control scheme includes online estimation of an operator's...
In this paper, we propose CPG (central pattern generator) based walking utilizing swing of arms. This method is aiming the effective use of upper-body of the humanoid. In sense of CPG applications, CPG based pattern generation technique for lower-body was proposed by other researchers. So, we apply CPG technique to swing of arms. It can be expected that the utilization of arm swing provides good performance...
In this paper, we propose flexible shoe system for biped robot to optimize energy consumption of sagittal and lateral plane motion. This shoe system is made to deform decline outside in lateral plane and it can absorb the kinetic energy of the robot in lateral plane. Besides, this system supports sagittal plane motion like a rocking chair. Furthermore, this hardware (shoes) and software (controller)...
This paper deals with the problem of controlling the position and attitude of a spherical rolling robot. The driving torque for the rolling robot is generated by a new type of mechanism equipped with a gyro. We derive two types of models, a kinematic model and a dynamic model, from the equations of motion for the robot. A feedback controller for the kinematic model is designed by using our previous...
This paper presents a new methodology for deformable object modelling by drawing an analogy between cellular neural network (CNN) and elastic deformation. The potential energy stored in an elastic body as a result of a deformation caused by an external force is propagated among mass points by the non-linear CNN activity. An improved CNN model is developed for propagating the energy generated by the...
In this paper two simple adaptive controllers are outlined that create only temporal and situation-dependent system models. They may be plausible alternatives of the more sophisticated soft computing approaches that aim at the identification of permanent and complete models. In both cases the temporal models can be built up and maintained step-by-step on the basis of slow elimination of fading information...
This note mainly studies stability and control of a class of networked control systems with randomly time-varying long delays. By choosing appropriate Lyapunov-Krasovskii functional and introducing the equivalent descriptor form of the system, LMI-based sufficient conditions for stability and control are derived. Finally the effectiveness of the proposed approach is illustrated by the numeric examples
In this paper, we propose a design method of gain-scheduling controller. We extend LSDP to gain-scheduling version. The controllers designed according to LSDP consist of a state observer and a regulator. The observer-gain and regulator-gain at each design point determine the control performance, and they are interpolated by polynomial. The gain-scheduling controller varies these gains according to...
This paper is devoted to the passivity based control in force reflecting bilateral teleoperation for varying time communication delay. In order to improve the stability and task performance, master and slave in bilateral teleoperation must be coupled dynamically via the transmission network through which the force and velocity are communicated. However, time delay, caused by varies factors such as...
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