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.
This paper presents the bilateral control of nonlinear teleoperation system represented by Takago-Sugeno (TS) fuzzy models based upon the state convergence methodology. All features of state convergence method proposed for linear bilateral control including the provision of considering the master and slave systems modeled by nth order differential equations, achieving the desired convergence behavior...
Robotic assistance enables a surgeon to perform dexterous and precise manipulations. However, conducting robot assisted neurosurgery within the deep and narrow spaces of the brain presents the risk of unexpected collisions between the shafts of robotic instruments and their surroundings out of the microscopic view. Thus, we propose the provision of feedback using a truncated cone shaped virtual fixture...
In this paper, synchronization of nonlinear teleoperation systems in the presence of non-passive and uncertain conditions in both the operator and the environment is studied. Despite existing approaches in the literature which are based on linear impedance models, the proposed approach in this paper has considered uncertain nonlinearities in the impedance model which results in better tracking performance...
The realization and key technology of a medium-load underwater electric manipulator is researched for the demand of the small and medium deep-sea underwater vehicle. The manipulator consists of electric linear cylinder module and wrist-clamp module. The linear cylinder can offer large linear force and displacement feedback to realize positioning control, and the wrist-clamp module can output continuous...
This paper presents the control framework under development within the DexROV Horizon 2020 project, for the execution of maintenance and inspection tasks by a semi-autonomous ROV. The work exploits a task priority based kinematic inversion developed by the authors, extending it to encompass also a force regulation task. A way to manage transitions between the different DexROV missions is also given...
As we endeavor to deploy and maintain evermore complex infrastructure underwater, the tools used for subsea maintenance and intervention must also evolve to meet new needs. Whether for scientific sampling and exploration, subsea mining, offshore oil & gas production, or installation and maintenance of marine renewable energy devices, there is a regular and increasing need for intervention to conduct...
The work described in this paper is focused on the reduction of the impact force exerted by the ground on a falling humanoid robot. It proposes the use of variable stiffness to prevent the motors from damaging when falling is inevitable and the only possible strategy is the protection of the robot using its arms. A fuzzy system is used to estimate the low motor stiffness required to reduce the impact...
Cooperative robotic manipulation is a promising industrial technology that has been attracting much research attention. However most existing control methods for this goal require either online force sensing or the exact parameters of the robot, which is usually difficult and expensive. In this paper, two mobile manipulators are utilised to verify a simple cooperative manipulation control scheme....
This work focuses on a robust nonlinear control design of a robot arm with micro-hand by using operator approach. In proposed control system, we can control the endpoint position of robot arm and obtain the desired force of micro-hand to perform a task, and a miniature pneumatic curling soft actuator which can generate bidirectional curling motions in different positive and negative pressures is used...
This paper presents the simulation of cantilever beam using ANSYS for nano manipulator. Steel, Aluminum alloy and Polyethylene have been used for design of beam type structure. The structural analysis has been conducted by applying the force of 0.001 μΝ to 0.8 N. The length of beam has been varied from 80 μm, 120 μm, 160 μm, the width has varied 10 μm, 20 μm, 30 μm and the thickness has been 0.6 μm,...
This paper introduces a new concept: the positive output controllability for a multi-link cable driven parallel manipulator (CDPM). This class of mechanism is characterised by the use of cable actuation which is constrained to be non-negative at all times. For simplicity, a linear-time-invariant system (LTI) is considered, which corresponds to the local behavior of the CDPMs around an particular equilibrium...
Haptics technology deals with sense of touch and kinesthetic learning through actuators. Haptics classified into human Haptics, machine Haptics, and virtual augmented reality. This review paper focuses on explaining Haptics through texture modeling of various surfaces through measuring tool classification. Equations, errors and future applications of Haptics through texture identification.
This paper deals with the optimal motion of a mobile manipulator for dragging a heavy object with the end effector. When the object is moved a certain distance, the torques that are consumed in the mobile manipulator during the motion are minimized by numerical optimization. In the optimized motion, the arm mounted on the mobile base passes through its singular configuration, and a large force to...
This paper presents the concept, design, and experimental implementation of a Balance Feedback Interface (BFI) for human-in-the-loop control of a humanoid robot. The purpose of the BFI is to create a new media to aid the task of bilateral feedback during full-body teleoperation of humanoid robots. It explores human's primitive motor skills to enhance the dynamic behavior of the slave platform to a...
The basic structure and null space analysis of 5 DoF implant assist robot for position and angle adjustment is conducted in this paper. The problem of position control using the inverse matrix is the singular postures that make the system unstable. In this paper, the modulated potential field is also extended to 5 DoF robot manipulator for both position adjustment and angle adjustment. It is proposed...
This paper proposes an implementation method of a workspace observer (WOB) considering a fluctuation of an equivalent mass matrix. WOB is one of useful methods to achieve robust control systems. The stability and transient response of WOB is influenced from a modeling error of a nominal plant model. For a high performance of WOB, a precise modeling of a nominal plant model should be used. From this...
In this paper, we investigated adhesion force of a single cell on an extracellular matrix (ECM) by measuring shear force and detachment energy. As the ECM, fibronectin (FN) was employed. To measure the shear force, we have a developed direct measurement system based on atomic force microscopy (AFM). An AFM microcantilever was mounted vertically with respect to a substrate, and a single cell on the...
In this paper, the problem of a bilateral teleoperation system in contact with active environment is considered. The human operator is assumed to be nonpassive, and the network is subject to unsymmetrical constant time delay. Two new nonlinear terms are added to the common PD control strategy in order to deal with the active impedance appeared in the closed loop system. The master/slave robots are...
Static analysis of two 3-degree of freedom spherical parallel mechanisms, 3-RRS and 3-RSR, is the main purpose of this study. First, static equilibrium equations are derived for the whole chains. For this work geometry of these mechanisms are expressed. In these mechanisms, the number of equations and unknowns are equal and solved by MATLAB software. On the other hand, the CAD model of these mechanisms...
The force estimation problem in robotic systems is studied in this paper. To isolate the effects of external disturbance on force estimation, a neural network based nonlinear disturbance observer is proposed. Hence, unlike existing force observers in the literature, force estimation in the presence of external disturbances is guaranteed. Based on the Lyapunov stability criterion, sufficient conditions...
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.