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The stabilization of a double inverted pendulum actuated at the hip only and moving in a three dimensional space may be considered to be a model of a human - and of other animals - postural control. Here, we show that postural control is possible by minimization of the system Lagrangian. A stochastic programming procedure proves to be able to find oscillatory inputs that bring the system close to...
By controlling the zero moment point (ZMP) The unexpected rotation of the supporting foot can be avoided. This paper analyze a control strategy for simultaneously regulating the position of the ZMP and the joints of the robot, the proposed controller is based on a path-following control strategy. The objective of the control law is not to track a (time based), but only the associated path in joint...
A nonlinear reference shaping method for manipulators which are operated in living environments is proposed. It generates an intermediate reference position, and by connecting the position and the manipulator's endpoint with virtual spring and damper, the robot acceleration is moderated and smooth reaching motion is realized. By feeding back the hand position of the manipulator to the proposed reference...
In this paper, the quadratic-programming (QP) based scheme-formulation is employed to handle the joint-angle-drift problem of a redundant three-link planar robot arm with its end-effector moving along different types of trajectories (e.g., a Lissajous-figure path, a triangular path and an elliptical path). The physical constraints such as joint limits and joint velocity limits are considered as well...
A nonlinear reference shaping method for manipulators which are operated in living environments is proposed. It generates an intermediate reference position, and it is combined with a control based on the virtual spring-damper hypothesis proposed by Arimoto et al. The initial acceleration is moderated by an intermediate reference position inserted between the original target and the current position...
This paper proposes a solution to the problem of the state observation and position control by output feedback for a nonlinear three degrees-of-freedom (3-DOF) parallel kinematic machine (PKM) system, based on the limited signal availability (moving platform displacement measurements only). The unknown velocity signals are estimated via a nonlinear robust observer which is designed for the nonlinear...
This paper presents investigations into the development of input shaping with proportional-derivative (PD)-type fuzzy logic control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD-type fuzzy logic controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate...
In industrial robotics - accurate - positioning of manipulators or end effectors is by far the most common application. The system is designed to meet the high mechanical stiffness and high feedback gains required, which improves the accuracy, the stability and the bandwidth of the position control. A typical DC-drive with gearbox and conventional feedback control often suits this purpose. New robotic...
This paper presents a discrete-time decentralized control scheme for identification and trajectory tracking of a five degrees of freedom (DOF) robot manipulator. A recurrent high order neural network (RHONN) structure is used to identify the robot model, and based on this model a discrete-time control law is derived, which combines discrete-time block control and sliding modes techniques. The neural...
Recent humanoid control investigations have emphasized the importance of controlling whole-body angular momentum throughout a movement task. For typical movement tasks, such as normal walking, such controllers minimize fluctuations in angular momentum about the center of mass (CM). This minimization is consistent with observed behavior of humans for such tasks. However, there are cases where such...
We present a modified recursive Newton-Euler method for computing some dynamic expressions that arise in two problems of fault detection and control of serial robot manipulators, and which cannot be evaluated numerically using the standard method. The two motivating problems are: i) the computation of the residual vector that allows accurate detection of actuator faults or unexpected collisions using...
This paper presents a novel underwater movement compensation algorithm for stabilization of manipulator position utilizing not ROV movements for disturbance compensation, but overlaid manipulator movements. A model based estimator is used to predict vehicle movement and provide the manipulation system with the necessary time to compensate for the estimated motion. It describes the conceptual benefits...
A Bowden cable performance analysis, based on a design of experiments (DoE) is presented for orthosis applications. The need for analysing these cables is based on the construction of IKO (IKerlan's Orthosis) with five actuated degrees of freedom (DoF) to help the human arm. The aim is for an individual to be capable of lifting weight without any great effort using this exoskeleton, which should be...
Model predictive control (MPC) an optimization-based approach that decides a control input by the optimal computation as the system output tracks the reference trajectory which is the ideal trajectory while the system output converges on the desired value. In this paper, a tracking controller for the two-link manipulator on the horizontal space via nonlinear model predictive control (NMPC) is proposed...
A control methodology for the operation of a hydraulic excavator using a haptic operating device is developed. The main idea is to use position controllers for both the excavator and the operating device where both control loops output the reference position to the other, i.e., two position controlled systems are placed in a feedback loop with each other. The human operator acts as an input disturbance...
This paper presents position analyses of open normal Assur groups A (3.6). Planar mechanisms can be seen as composed of link groups (Assur groups) with zero mobility relative to the links to which they are successively added. These Assur groups, serving as modules in the synthesis and analysis of complex planar mechanisms, might adopt a certain number of positions which allow choosing different solutions...
This paper derives a tip position controller for a two link planar flexible manipulator based on the dynamic extension technique and the potential energy shaping technique. Dynamics of the manipulator being described by a set of non-linear ordinary and partial differential equations is expanded by connecting an external system that has its own dynamics and generalized coordinates. Then the potential...
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...
According to other expertspsila researches, it is necessary for the motion of service-robot manipulator should either be anticipated or be familiar to people. In order to realize this prospect, we propose that service-robot should imitate the motion of manipulator taught by people. In this paper we use the prototype of dual arm mobile service-robot FISR-1 (family intelligent service robot-1) to study...
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