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This work presents different types of neuronal structures to evaluate their performance as a controller, using a robotic arm for that purpose. To study the performance of the controllers, the first step is to study the system in which the controllers will be applied. After that, different strategies of control need to be studied, in this case based on neural networks. Then the entire system can be...
In human-robot interaction (HRI) and especially in close or physical interaction, it is essential to ensure the human's safety. This is achieved by introducing virtual constraints defining a region, in which the robot is allowed to move safely. These safety regions may change over time during human-robot interaction, which may be either due to human motion or changed environmental conditions. In consequence...
The stability of a force-reflecting bilateral teleoperator in the presence of time delay is solved in the former researches, and recently the four-channel architecture in teleoperation is focused by many literatures. This paper proposes a novel passive four-channel architecture (PFCA). Furthermore, two types of multilateral shared control architecture existed in space teleoperation are put forward,...
A novel model-based controller for six degree of freedom (dof) parallel manipulator-PID controller with gravity compensation is developed, in order to improve the control precision of six-dof hydraulic driven parallel manipulator with long stroke hydraulic actuator and heavy load. In this paper, six-dof parallel manipulator is described as a thirteen rigid-body systems. The mathematical model of gravity...
This paper presents an implementation of a nonlinear motion control that was developed for a flexible-single-link arm based on the Equivalent Rigid Link System (ERLS) dynamic model and the inverse dynamics of the arm and the actuator. The arm moves in a vertical plane and is actuated by an electrohydraulic motor. The control scheme is simplified and implemented on a general purpose 16-bit micro-computer...
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