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This article focuses on the design and development of a control system for a robotic arm designed at the Universidad de las Fuerzas Armadas, Latacunga extension, by using Dynamixel servomotors. The use of Python software, with advantages and features of being a free programming language, provides the project with reliability and ease of communication with a computer arm. The use of these techniques...
This paper investigates the development of an exact constraint parallel robotic arm unit. In addition to the advantages of simple structure and compact size, the six points exactly constrained parallel robotic arm unit is both statically and kinematicaly deterministic, thus is more suitable for precision position application. Theoretical analysis based on the principle of exact constraint is given...
This paper investigates the modelling and control of step traversal using a two-wheeled robot (TWR). The traversal of TWRs over steps and other uneven terrain requires large platform tilt angles to adjust the centre of mass. This process is highly nonlinear, which complicates the controller design process. An auxiliary reaction wheel actuator is used in a novel way to facilitate step traversal. A...
This paper presents the application of Inverse Simulation to the control of a mobile robot. The implementation of this technique for motion control has been found to provide highly accurate trajectory tracking. Since the input to the Inverse Simulation is a time history of the desired response, then greater control over the position and orientation of the mobile robot can be achieved. There are many...
Over the last few decades, legged robots are becoming a promising solution for rough terrain navigation, however, existing legged machines often lack versatility to perform a wide range of different gaits. To build a highly dynamic and versatile legged robot, it is essential to have lightweight legs with optimized design and suitable actuators for the desired robot performance and tasks. The design...
Flexible endoscopes are a common instrument for different tasks in minimally invasive surgery. The motion and capability of resistance against manipulation forces of common endoscopes is restricted due to their flexibility. They tend to form loops and stress their surroundings. This paper proposes an active shaft concept based on a new actuation concept: the shaft is a hyper-redundant snake-like robot...
Bio mimicking micro/miniature robots require design aesthetics, simplicity, low power, lower computational requirement, resilient operation and repeatability. The main choice of actuators in such systems are Shape Memory Alloys (SMA). The larger strain and reduced size of the SMA sub millimeter diameter helical springs make them a potential choice in such systems. Sensorless position/ displacement...
This paper demonstrates a simple method for sensorless position estimation and control of a linear voice-coil actuator. Such actuators are currently used in needle-free jet injector prototypes. The sensorless method makes use of the position dependent impedance of the voice-coil at high frequencies to produce an estimate of coil position. This is achieved through the addition of a high frequency signal...
Force distribution is one of the advantage of a redundant parallel manipulator configuration, making the utilization of less powerful actuators feasible. In this contribution, a force trajectory for a redundant actuator in a seven-cylinder pneumatically-actuated Stewart platform is derived analytically using the inverse dynamic model to maximize the benefit of the additional actuator. A feed-forward...
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