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This paper proposes a bilateral control method focusing on the stability and force estimation accuracy for a pair of two-degrees of freedom(DOF) manipulators which have different structures. Bilateral control is a method that controls position and force bidirectionally between master and slave. By using this method, operators can get haptic sensation from the remote environment during teleoperation...
Precise force control and position control is essential for many robotic applications. During unilateral or bilateral object handling remote applications, human operators apply excess forces on the actuators with the intention of better grip and it is possible to damage the handled objects. This paper proposes position control and force control techniques when human applies excess force. The controllers...
This work compares the control performance of two embedded control systems for controlling the angular position of a DC servomotor with nonlinear load: an arm with variable mass. The first control system uses an IO PID (Integer order Proportional Integral Derivative) controller, while the second employs a FO (Fractional Order) PID controller. Those control systems are embedded via a cRIO (compact...
This paper presents three contributions in the filed of medical imaging applications using hand-held ultrasound probe: 1) a new type of belt-driven mechanism for force-controlled ultrasound probe (FCUS) and 2) a safe and precise position controller and 3) a new algorithm for endpoint avoidance in the limited motion range. To enhance the image quality, the probe-patient contact force is controlled...
Simulation of the planar magnetic actuation of ferromagnetic bodies is proposed and experimentally verified in the framework of the system for precise positioning of miniature passive robots with two degrees of freedom. Major goal of presented development is to balance computational effort of the simulation with complexity of computational problem. Proposed methodology is developed for efficient simulation...
Among aging populations, tremors are becoming an ever greater barrier to autonomy. The purpose of this study is to design a tremor suppressing robotic system for the human arm. This system is designed to be linked to the back of the user's hand using a magnetic link, preventing the user from being hurt should the system be subject to malfunction. The presented control law consists of a velocity-force...
Recently in Japan, increase in necessity of nursing care with elderly society has been problematic. Transfer task of a person in need of nursing care is one of the heavy load for care-worker. Additionally, the problem of the privacy protection for the disability in the private space such as a toilet and bath is a serious issue. Therefore, the aim of this research is to develop the transfer support...
To overcome the disadvantages of position control and force control based assembly strategies for robotic assembly of small precision parts of mobile IT devices, the model based assembly strategy was applied. The assembly model was established based on the position data of the robot end-effector and the threshold value of the contact force data about the specific contact formations, and the contact...
This paper presents a method to compute the movable range of an offshore wind turbine with a semi-submersible floating platform in still water under uniform wind field. The movable range is the set of X-Y positions of the platform where equilibria can be achieved while constraints on power, generator torque and generator speed are fulfilled. Within the computed movable range, a static feedforward...
This paper presents an interaction control algorithm for a dielectric elastomer (DE) membrane actuator. The proposed method permits to efficiently exploit the controllable stiffness of the material, and use it as a “programmable spring”, thus enhancing its use in applications such as robotic manipulation or haptic devices. To achieve this goal, a design algorithm based on linear matrix inequalities...
The aim of this paper is to elaborate a control law based on the combination of PID and Backstepping controllers in order to stabilize the inverted pendulum initially unstable. Simulation and real time experimental results show that PID-PID and Backstepping-PID combination had achieved a satisfactory performance. Moreover, it had been concluded that the Backstepping controller is more efficient since...
This paper proposes a new observer gain tuning methodology to achieve a robust position control. The state observer is often used to estimate the state of the system. Generally, the observer gain is tuned by an evaluation function and the operator needs to arbitrarily select a weight function to obtain an optimal observer gain. This paper introduces a methodology for observer gain tuning using the...
This paper deals with the modelling and control of a single sided linear switched reluctance actuator. This study provide a presentation of modelling and proposes a study on open and closed loop controls for the studied motor. From the proposed model, its dynamic behavior is described and discussed in detail. In addition, a simpler controller based on PID regulator is employed to upgrade the dynamic...
Robot manipulation is one of prerequisites capability for service robot. However, autonomous manipulation remains a challenging problem for robot to implement the task, where robot has physical interactions and mechanical contacts with its environment. To date, learning from demonstration (LFD) has been successfully applied to enable robot to acquire new manipulation skill. Researches on LFD mainly...
Robotic-based rehabilitation has attracted great attention since it provides various advantages from the viewpoint of patients, therapists and rehabilitation process. This paper presents a redundantly actuated ankle rehabilitation robot, its control schemes for the common rehabilitation exercises, and experimental results indicating the effectiveness of the control schemes and the performance of the...
This paper investigates a long-stroke linear switched reluctance machine (LSRM) with a primary and a secondary translator for industrial conveyance applications. The secondary one can translate according the primary one so that linear compound motions can be achieved. Experimental results demonstrate that the machine is able to realize a composite linear motion from the secondary translator to ground...
This paper aims to design a hybrid PD-Fuzzy position controller for high performance linear switched reluctance motor (LSRM). The mathematical model of LSRM is developed and simulated by Matlab/Simulink package. The essential feature of the proposed hybrid PD-Fuzzy controller is to use a PD controller only for coarse position error, then for fine position error LSRM position control is done using...
This paper studies position control of a linear induction motor drive using three cascaded sliding mode controllers. First, the indirect field oriented control of the LIMs is derived, and then cascaded sliding mode controllers design for indirect field oriented control is applied to compensate the uncertainties, which occur with conventional control techniques. The performance of the LIM drive is...
In this paper, we present an observer based nonlinear controller using barrier Lyapunov function (BLF) for position tracking of Sawyer motor under yaw constraint. The dynamics of Sawyer motor is modified to apply BLF-based backstepping control design. To relax the matching condition, torque and force modulations are proposed. The modulations enable decoupling forces and torque of the Sawyer motor,...
There are traditionally two control modes for teleoperation with force feedback. The position control mode is usually adopted in bilateral teleoperation, while the rate control mode is suit for the master device whose workspace is limited. This paper presents a novel fixed point control mode, where the location of the slave manipulator is independent of the motion of the master device. In this mode,...
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