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This paper presents the design steps and implementation results of a hybrid force/position control of the arm. The HFP control is based on a Proportional-Derivative Controller combined with feed-forward position control and multi-stage Infinite Impulse Response (IIR) filter in the joint space position control loop. In the outer loop, a resolved-velocity force control scheme is used. The performance...
In this paper, design of an adaptive neural network based interval type-2 fuzzy logic controller (ANNIT2FL), circular and handwriting type trajectory planning are proposed to show ability of a 3-DOF( Degree of Freedom ) Scara type robot manipulator. The kinematic and the dynamic equations are used to obtain equations of motion of robot manipulator and three different rise functions are chosen for...
As an important area of the high-tech research, robotics technology is attached importance by governments. It has become important equipment in manufacturing of a country's manufacture level and technological level. Robot kinematics analysis is the basis of robot motion control. According to the specific characteristics of MOTOMAN-HP20 manipulator, this paper established a kinematics model and set...
Interaction with humans is inevitable for service robots, which results in safety being one of the most important factors in designing the robots. Compliant component is an answer to the safety issue at the cost of performance degradation. In order to reduce the performance degradation, manipulators equipped with variable stiffness have been studied by many researchers. This paper presents a variable...
Humanoids are increasingly used in the service sectors around the world to work with, or assist humans. However current humanoid designs place limitations on direct engagement with the human in terms of safety and usability. In this paper, we present an approach for the control of hybrid, high-speed and safe human-robot interaction systems with highly non-linear dynamic behavior. The proposed approach...
This article describes a new control scheme designed for a three-degree-of-freedom (3-DOF) flexible robot. The control scheme consists of a two multivariable control loops; the inner loop controls the position of the motors, and the external loop controls the tip's position and cancels the vibration. The outer control loop, as will be shown, is robust to tip mass variations. Simulations are carried...
A mobile robot based on novel line-walking mechanism is proposed for inspecting power transmission lines. The novel mechanism enables the centroid of the robot to concentrate on the hip joint to minimize the drive torque of the hip joint and keep the robot stable when only on leg is hung on line. After reviewing of the line-walking mechanism, power line inspection robot is described in detail. The...
Industrial implementation of robots is to perform the assigned tasks in the minimum possible time in the cycle comes up to increase productivity and reduce the cost. The cycle time is strongly linked to the robot trajectory cycle to the task. However, the optimization of the robot trajectory cycle the robot visited a set of points which represent the robotics task. Similar to persons in traveling...
This paper proposes a new control method for a three-degree-of-freedom flexible robot. In the model, the mass is assumed to be concentrated at the end of the robotic arm. The main feature of the method is that it consists of two nested control loops: the inner one controls the angular positions of the motors and the external one the tip's position and cancels the vibration. The outer control loop,...
Typical gripping systems for industrial robots have a predefined geometry which is suitable for only a specific part. The reutilization for other parts is restricted and associated with high effort for manual changeover. The presented paper shows a flexible gripping system with the possibility of self-adaptation to different workpieces. The adaptation is based on a robot-guided gripping system having...
When we have to physically interact with a robot, the benchmark for natural and efficient performance is our experience of daily interactions with other humans. This goal is still far despite significant advances in human-robot interaction. While considerable progress is made in various areas ranging from improving the hardware over safety measures to better sensor systems, the research on basic mechanisms...
Singularity is a fundamental problem with robot manipulators, and limits its capability to complete its task. In this paper, a “singularity separation plus exponential damped reciprocal” method is presented and its implementation issues is discussed. The singularity factor is separated from the inverse Jacobian matrix, and modified with the exponential damped reciprocal. Therefore, it doesn't require...
The trajectory of a revolute welding robot with six joints was planned in order to make the trajectory smooth and working time optimal. The time intervals between each point to be welded in Cartesian space were coded in binary, and the trajectory was implemented using an adaptive genetic algorithm while considering constraints of displacement, velocity, acceleration and jerk of each joint. According...
This paper proposes a gravity compensator for the roll-pitch rotation which can be operated in hemispherical work space. The gravity compensator comprises two 1-dof gravity compensators and a bevel differential. It is revealed from analyses of energy and torque that the proposed gravity compensator can perform static balancing completely. The gravity compensation of a 4-dofs manipulator is briefly...
In state of the art robotics, high positioning accuracy is achieved by using solid and stiff components as well as powerful drive units which have no backlash. In contrast, human beings are able to achieve remarkable high positioning accuracy despite of low mass, low power consumption and relatively simple mechanics. One approach to obtain this accuracy is to temporarily create additional supporting...
In this paper, we study the problem of door-opening by using a modular re-configurable robot (MRR) mounted on a tracked mobile platform. The main concern of opening a door is how to prevent the internal forces that occur because of the positioning error or the imprecise modeling of the environment, i.e., the door parameters. Most previous research is based on compliant control, which makes the control...
Redundant robotic manipulators under kinematic control may exhibit unpredictable behaviours at joint level. When the end-effector describes a closed trajectory, the joint angles may not return to their initial values and final configuration in the joint space may depend on the trajectory followed by the end-effector. In this paper, a complete parameterization of holonomic local control strategies...
This paper describes important role of muscular viscoelasticity at Feed-forward position control of robot arm based on animal musculoskeletal model. Feed-back controller of animals has big delay. Therefore, feed-forward (FF) controller contributes mainly in local motor control of animals. We focus control ability of animal muscle. Muscle has variable viscoelasticity according to muscular activation...
In this paper, two different adaptive network based fuzzy logic controllers (Neuro-Fuzzy) are designed for trajectory tracking control of a 3-DOF scara type robot manipulator. The kinematic and the dynamic equations are used to obtain equations of motion of robot manipulator and three different rise functions are chosen for desired Cartesian trajectory as circular tool trajectory. The performances...
A time delay estimation based general framework for trajectory tracking control of robot manipulators is presented. The controller consists of three elements: a time-delay-estimation element that cancels continuous nonlinearities of robot dynamics, an injecting element that endows desired error dynamics, and a correcting element that suppresses residual time delay estimation error caused by discontinuous...
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