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We have been developing an exoskeleton robot (ExoRob) for assisting daily upper limb movements (i.e., shoulder, elbow and wrist). In this paper we have focused on the development of a 2DOF ExoRob to rehabilitate elbow joint flexion/extension and shoulder joint internal/external rotation, as a step toward the development of a complete (i.e., 3DOF) shoulder motion assisted exoskeleton robot. The proposed...
This paper presents an adaptive backstepping sliding-mode motion controller using fuzzy basis function networks (FBFN) method for trajectory tracking of a self-balancing two-wheeled robot (SBTWR) with parameter variations. A decoupling method is proposed to decouple the robot's dynamic model such that the tracking controller can be synthesized using backstepping and sliding-mode control in both kinematic...
As a stage toward a complete upper-arm motion assisted exoskeleton robot (i.e., 7DOF) this paper focused on the development of a 2DOF exoskeleton robot to rehabilitate and to ease wrist joint movements. To perform essential daily activities the movement of shoulder, elbow, and wrist play a vital role and proper functioning of the upper-limb is essential. We therefore have been developing an exoskeleton...
The goal of this paper is to present the first controller that has been applied to an original system, which is a direct-drive submersible grinding robot. Since this application is quite recent, an analogy is made with machine tools equipped with linear motors, and the control methods that have been applied are reviewed. This review has led to the selection of the sliding-mode controller with the...
A self-organizing neural sliding mode controller (SONSMC) is presented for trajectory tracking control of multi-link robots with model errors and uncertain disturbances. This approach gives a new global sliding mode manifold for multi-link robots, which enable system trajectory to run on the sliding mode manifold at the start point and eliminate the reaching phase of the conventional sliding mode...
A sliding mode control is developed to solve the tracking control problem for an inertia wheel pendulum. The desired trajectory is centered at the upright position where the open-loop system becomes a non-minimum-phase system. As a first step towards the solution of the tracking control problem is the reference trajectory generation where we develop a reference model, based on the two-relay controller,...
Welding robots are seldom entirely autonomous, mainly because a robotic arm, integrated in an assembly line, produces better results. There are, however, situations, such as welding inside pipes, or in shipyards, where autonomous welding robots are really helpful. This paper presents integral and proportional integral sliding mode control techniques for controlling the speed of DC motors. Results...
A fuzzy neural sliding mode controller based on genetic algorithm (FNSMCGA) is presented for trajectory tracking control of multi-link robots with model errors and uncertain disturbances. This approach gives a new global sliding mode manifold for multi-link robots, which enable system trajectory to run on the sliding mode manifold at the start point and eliminate the reaching phase of the conventional...
Aiming at the model uncertainties and external disturbances of the robotic systems, First regard the exterior disturbances as system input, with skew-symmetric characteristics of the robot, this paper designed a controller based on the theory of passivity, and then used the classic sliding mode control to compensate the uncertainties' influence. In order to eliminate chattering of sliding mode controller,...
In this study, the sliding mode approach is applied to the tracking control problem of a planar arm manipulator system driven by a new type of actuator, which comprises a pneumatic muscle (PM) and a torsion spring. Unlike the traditional agonist/antagonist pneumatic muscle actuator, the PM is arranged in place of bicep and the torsion spring provides opposing torque in the presented actuator. The...
The main problem of sliding mode controllers is that a whole knowledge system parameters is required to compute the equivalent control. Neural networks are used to compute the equivalent control. Standard two layer feedforward neural network training with the backpropagation algorithm and Radial Basis Function Neural Networks (RBFNN) are the most popular methods that used on robot control. This paper...
Rigid planar space robot is represented as Caplygin system and its base attitude can be stabilized by means of geometric phase. However, in cases when flexible arms are used for control of base attitude, inherent resonance modes are excited and instability is resulted. In this study we propose a stabilized controller is synthesized as adaptive tracking control system convined with sliding mode control...
In this paper, we propose two controllers which extend the original PD+I fuzzy logic controller to treat the plant with time varying nonlinear dynamics. The adaptation ability of the first self tuning PD+I fuzzy logic controller (STPD+I_31) is obtained by adjusting the output scaling factor automatically thereby contributing to significant improvement in performance. Second proposed controller (STPD+I_9)...
In this paper, a robust control technique (sliding mode control) is proposed to be used in order to perform visual servoing for differential-drive mobile robots using the classical teach-by-showing strategy. We propose a commuted sliding mode control law that exploits the epipolar geometry. The major contribution of the paper is the design of a control law that solves the problem of passing through...
Biped robot research has been developing several decade of year in the world. We usually saw experimental biped robot in order to reduce single leg support time and let biped robot easy to control, so many researcher choose linearism plant of biped robot. But this approach couldnpsilat make our biped robot smooth walking naturally like as real human. We will obtain each angle of joints from real human...
In this paper, an adaptive fuzzy sliding mode controller is proposed for a three-axis SCARA manipulator. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. Based on the concept of sliding mode, fuzzy rules are developed to alleviate the input chattering effectively by using the developed adaptation law. The stability of the three-axis SCARA...
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