The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The single robot joint, which contains a DC torque motor and a harmonic reducer, was designed. And sliding mode control strategy by the self-adaptive adjustment of the sliding parameter ε was proposed in this paper. This control strategy can adaptively adjust ε by switching variables and their derivatives according to the system. It is applied in the control of robot joint to solve the contradiction...
The precision motion control problem of a virtual axis machine tool is addressed in this paper, which is still one of the biggest obstacles of commercialization of the virtual axis machine tool. Firstly, the kinematics analysis of the parallel mechanism of a 6-DOF virtual axis machine tool is made. Secondly, a joint-space trajectory planning based on the cycloid movement is conducted to ensure the...
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 deals with the application of the sliding mode control technique on the position servo system for a multifingered hand. The configuration of the hand system is described. The state equations of a single finger joint are presented based on dynamic model. Sliding mode controller was also determined. The method of alleviation chattering is discussed. The more satisfactory results are obtained...
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...
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...
Two wheel mobile manipulator has the potential to become multi-skilled robot in the field of robotics engineering and it is already implemented by using inverted pendulum control. Centre of gravity position is controlled to achieve the balancing of robot. Due to the unbalanced nature and the nonholonomic property of the two-wheel mobile manipulator, balancing is challenging task. On the other hand...
Numerous researches have been carried out to use robot in the area of stroke rehabilitations. The conventional approach is to assist patient to perform Activities of Daily Living (ADL) through a set of pre-programmed trajectories. The main drawback lies in the lack of voluntary movement by the patient. Many of these works have been carried out by using positional feedback control. In this kind of...
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...
This paper deals with the hybrid position/force control of a class of robotic manipulators. To perform the control scheme design, it is necessary to characterize the dynamical model of the force sensor which is mounted at the end-effector of the robot. The objective is to perform reliable contact force measurements by estimating all the forces which are generated at the level of the tip which is directly...
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...
The goal of this work is the development and performance analysis of control algorithms for new soft fluidic actuators with rotary elastic chambers (REC-actuators). Due to their inherent compliancy these actuators fulfill the requisites for building intrinsically safe mechanisms as assistance robots and motion therapy devices, working in direct physical contact with humans. Besides the difficulties...
In this paper modeling and robust sliding mode control of a snake-like robot in tracking of serpenoidal motion is addressed. By considering holonomic constraints, the kinematic and dynamic equations of a hyper redundant robot are obtained using Kane's method. The Coulomb friction between robot's wheels and the ground is modeled in two perpendicular directions (i.e. tangential and normal directions)...
In this paper, active control of space manipulator with flexible-link and flexible-joint was investigated based on the singular perturbation method. Owing to the combined effects of the link and joint flexibilities, the dynamics model of this type of manipulator became more complex and led to a series of unsolved control system. To simplify the design of control system, singular perturbation method...
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...
Most existing approaches so far on position/force control of constrained robots always suffer from the complexity of the arm model that may cause difficulty in practical application. In this paper, a robust joint-model-based controller is proposed to deal with the problem of hybrid position/force control for constrained robots. The development of the controller is based on a novel formulation of the...
A novel adaptive sliding mode control design is developed for trajectory tracking of a class of flexible robots in this paper. This control design uses a force/position controller for robots with flexible joints where the friction between the end effector and the environment is taken into account. For systematic reasons the controller is designed considering the rigid links subsystem and the flexible...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.