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This paper describes the modelling, simulation and visual servo control of a robot-arm designed for supervision of complex task environments. This robot (mini-robot) has 2 degrees of freedom (hereafter d.o.f.) and it is attached at the end of another anthropomorphic robot with 7 d.o.f. (main robot). In order to achieve a suitable supervision, the mini-robot has to perform a given trajectory around...
In this paper we present a human-friendly control framework and an associated system architecture for performing compliant trajectory tracking of multimodal human gesture information on a position controlled humanoid robot in realtime. The contribution of this paper includes a system architecture and control methodology that enables real-time compliant control of humanoid robots from demonstrated...
A design method of seam tracking system according to planned welding track in advance was proposed based on teaching and playback and real-time control, and a variable parameter PID controller which adapt to the changing welding line form and the working condition was designed for the system, and the control model was established too. The control strategy was simulated in MATLAB environment, and the...
In this paper we presents two new 0-flat normal forms. It deals with sufficient geometrical conditions which enable us to conclude if a given nonlinear controllable dynamical system can be transformed, by means of change of coordinates, to one of these normal forms. In the same way it gives an algorithm to compute the flat outputs. As an illustration to the proposed approach, a trajectory tracking...
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 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...
The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of composite Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD-type...
Among numerous control schemes for flexible joint robots, the main problem is that the full state variable of acceleration and jerk must be known, which are difficult to measure, and the noise may be merged in the main signal. To solve this problem, a self adaptive composite control scheme is developed to control the flexible joint robots with modeling errors and subject to uncertain disturbances,...
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,...
This paper presents a discrete-time decentralized control scheme for trajectory tracking of a five degrees of freedom (DOF) redundant robot. A high order neural network (HONN) is used to approximate a decentralized control law designed by the backstepping technique as applied to a block strict feedback form (BSFF). The neural network learning is performed on-line by Kalman filtering. The controllers...
In order to solve the vibration during the process of transferring wafers and achieve the purpose of transferring wafers accurately and stably, the wafer transfer robot dynamic model was modelled and the strategy of vibration suppression based on input shaping was proposed. Based on the characteristics of wafer transfer robot, ZV input shaper and skewed shaper was designed to solve the single axis's...
This work presents some results obtained from image processing and motion analysis of the human body. The issues raised in motion analysis are of interest for obtaining motion-specific parameters for movements of the human body. The resulting data (spatial coordinates, velocities and accelerations) are used for further processing in humanoid robotics and assistive and recuperative technologies for...
Intelligent control of space manipulator with flexible-link and flexible-joint is discussed based on the singular perturbation method. Owing to the combined effects of the link and joint flexibilities, the dynamic model of this kind of manipulator becomes more complex and leads to a series of unsolved control system. To simplify the design of the control system, singular perturbation method is used...
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...
To perform essential daily activities the movement of shoulder, elbow, and wrist play a vital role and therefore proper functioning of upper-limb is very much essential. We therefore have been developing an exoskeleton robot (ExoRob) to rehabilitate and to ease upper limb motion. Toward to make a complete (i.e., 7DOF) upper-arm motion assisted robotic exoskeleton this paper focused on the development...
This paper presents an overview of the structure and requirements of a ground engineering model for a space remote manipulator system, with long arm and large torque driver capacity. The system consists of a 6 DOFs robot arm composed of six identical modular joints, and a large-error tolerated end effector. A FPGA based joint controller hardware structure is built to form a distributed control scheme...
This paper presents an approach to the control of the KNTU CDRPM using an integrated control scheme. The goal in this approach is achieving accurate trajectory tracking while assuring positive tension in the cables. By the proposed controller, the inherent nonlinear behavior of the cable and the target tracking errors are simultaneously compensated. In this paper asymptotic stability analysis of the...
We present the design and control of a simple three-link underactuated synthetic wheel biped composed of a torso and two legs with arc-shaped feet. The equations of motion are derived and a controller based on feedback linearization is used to constrain the controllable degrees of freedom and develop a simple gait. Experimental results show successful gait generation and relatively good trajectory...
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...
The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of composite collocated proportional-derivative (PD) and Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator respectively...
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