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A decentralized control law using a backstepping scheme is proposed to deal with a leader follower multiple robots structure. The coordination strategy combines the leader follower control with the decentralized control. In fact, in the proposed approach, each follower robot only needs the information exchange with its connected neighbors and does not assume the existence of direct communication channel...
The interaction between the snake-like robot and environment produces serpentine action to push the body forward. A slender body shape made from many modules occupies a larger scale. In this paper, snake-like robot motion planning method is analyzed by considering each module's position and its movement as well as position of obstacles. The Potential Energy Function between each module and obstacles...
This paper presents the design of a motion control strategy based on passivity theory and energy analysis applied to Euler-Lagrange (E-L) systems, particularly to robot manipulators and with purpose to haptic devices. The performance of a robotic structure depends of a proper design of a motion control technique in a regulation action or trajectory tracking in its workspace. With the purpose to proof...
This paper analyzes cause of control errors for 5 DOF exoskeleton upper-limb rehabilitation robot. Based on the method of typical repetitive control, let multiple improved repetitive control loops with filtering parallel embed into closed-loop of control system in order to eliminate motion error of rehabilitation robot with multi-channel periodic input signal. The simulation results show that the...
We consider a class of linear flexible mechanical systems arising from the dynamics of animal locomotion. A distinctive property of such systems is that the stiffness matrix is asymmetric. Extending the standard notion to this class, we define the natural oscillation as a free response under the damping compensation to achieve marginal stability. As a benchmark, a link chain system in a fluid environment...
This paper suggests two advantages of the biarticular muscle which has been said to play an important role in human's motion control; one is stiffness direction stabilization of an end effector which results in stabilization of the posture, and the other is inertia matrix diagonalization in the dynamics of a robot manipulator. In order to analyze these characteristics, we adopt three-pair six-muscle...
The control problem of coordinated motion of free-floating dual-arm space robot with external disturbance is discussed. Combined the linear momentum conversation and the Lagrangian approach, the full-controlled dynamic equations of free-floating space robot with dual-arms is established and then inverted to the state equation for control design. Based on the terminal sliding mode control (SMC) technique,...
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