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This paper presents a multi-controller approach of control with symbolic fuzzy switching system and adaptive fuzzy gain to control our process in the different environment. First we present the model of the process (wrist of a Stäubli robot RX 90) and a local parametric models around equilibrium point. Then, we introduce the principles of multi-controller approach and fuzzy switching system. The originality...
The work presented herein, attempts to address the problem of designing stepping recovery controllers for compliantly actuated humanoid robots. Based on the decomposition of the stepping procedure into three distinct phases, which are characterized by unique combinations of configurations and impedance levels, the contrivance of a Linear Quadratic Regulator (LQR) optimization process allows for the...
Tendon-based instruments are widely used in both robotic and manual minimally invasive surgical procedures. Direct measurement of the interaction forces at the tip of such instruments is difficult. As a result, methods for estimation of these forces are of substantial interest. In this paper, modeling of the input-output hysteretic behavior in a da Vinci instrument is addressed using the classical...
Equipment productivity in semiconductor manufacturing has been becoming one of the major topics due to the high equipment price. To calculate the productivity based on the running logs is easier and more precise. However, the engineers may often be assigned to estimate the productivity of the equipment in the design phase for making the investment decision or predicting the project benefit. In such...
Flexible links in a robot arm often experience unwanted vibrations at the end points typically due to elastic deflections and system disturbances. This leads to reduced endpoint positioning accuracy, as well as negatively affects the overall control performance of the robot arm. Typical control strategies introduce active damping to reduce oscillations at the robot arm end points, whereas other methods...
In this paper, we investigate shared autonomous and manual control of robotic systems. A trust and self-confidence based autonomy allocation scheme is proposed based on objective and unbiased measures of human-robot collaboration (HRC) systems. We also provide analytical tools to evaluate the long-term effects of the proposed allocation scheme on the overall robot performance and human workload. Experiments...
In this paper, an adaptive fuzzy sliding mode control approach which combines fuzzy control with the sliding mode control, is applied for the tracking control of pneumatic muscle actuator (PMA). This actuator is widely used in the rehabilitation robots while hard to control due to its strong nonlinearity. The switching-type control term in the sliding mode control law is approximated by a fuzzy system...
In this paper a model-free approach for damping control of Variable Stiffness Actuators is proposed. The idea is to take advantage of the possibility to change the stiffness of the actuators in controlling the damping. The problem of minimizing the terminal energy for a one degree of freedom spring-mass model with controlled stiffness is first considered. The optimal bang-bang control law uses a maximum...
The article presents the process of designing a mathematical model of the human arm. Modelling arm consists of two joints connected by the rotational link. Each of them is represented as a rectangular prism which changes shape during the movement. The moment of shape change depends on the two-state coordinates: the angular displacement q1 and q2. Based on the analysis of the arm movement, a mathematical...
Potential-function-based control strategy for path planning and formation control of Quadrotors is proposed in this work. The potential function is used to attract the Quadrotor to the goal location as well as avoiding the obstacle. The algorithm to solve the so called local minima problem by utilizing the wall-following behavior is also explained. The resulted path planning via potential function...
Analytical results describing the optimal trajectories for general classes of robot systems have proven elusive, in part because the optimal trajectories for a complex system may not exist, or may be computed only numerically from differential equations. This paper studies a simpler optimization problem: finding an optimal sequence and optimal durations of motion primitives (simple preprogrammed actions)...
Although the Policy Iteration is one of effective algorithms to solve an optimal control problem for nonlinear systems, it is not clear whether this algorithm can be applied for hybrid systems or not. In this paper, properties of a conventional policy iteration for nonlinear hybrid systems is analyzed and it is shown that the policy iteration can be applied for hybrid systems whose impact manifolds...
This is the paper style requirement for the Chinese Control and Decision Conference. In this paper, a new observer-based nonsingular terminal sliding mode controller is proposed for a spin missile system with inertia uncertainty and external disturbance. By designing the nonlinear disturbance observer to observe the uncertainties and disturbance of the missile system, the chattering of nonsingular...
Motivated by the fragility to perturbations of hybrid systems jumping on surfaces and the robustifying capabilities of zero-crossing detection algorithms, we propose a hybrid simulator model with incorporated zero-crossing detection. First, we reveal the effect of measurement noise and of discretization to hybrid systems jumping on surfaces. We prove that, under mild regularity conditions, zero-crossing...
In this paper, a multiple-rotorcraft-flying-robot (MRFR) testbed is introduced. Firstly, physical structure, as well as hardware and software system, is described in detail. Subsequently, in order to realize the autonomous flight of each single rotorcraft-flying-robot (RFR), modeling, identification and flight control experiments are conducted. Then, formation flying demonstration is presented to...
Passive Dynamic Walker can descend a shallow slope only using an initial velocity and the gravity. It has good energy efficiency because it does not require any actuator. However, it has been known that it cannot walk on a steep slope. Controlled walking models, called “semi-passive dynamic walkers” are considered in this research to accomplish stable walking on the steep slope. The experimental model...
In this paper, an dynamics model is established for telerobot. Based on the dynamics model, the authors design a new dual-mode adaptive fuzzy control system and use Lyapunov stability theory to prove the stability of the system and the boundness of tracking error. In order to improve robustness, the dual-mode adaptive fuzzy controller is modified and equipped with self-adjusting and new switching...
This paper investigates how the parameterization of the target trajectories impacts the weighting of transient and steady state energy losses in different components of a multi-axial robot and proposes ways of minimizing them in order to improve the overall driveline efficiency. As application case, a three-axial badminton robot is used. For the purpose of predicting the energy flow and the losses...
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