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Micro robots are suited for targeted drug delivery and micro scale manufacturing because they are small enough to navigate the passageways of the body. However, due to their small size, micro robots cannot contain onboard processing for autonomy nor onboard power. Instead they are controlled by an external signal such as a magnetic field. Because each robot can only provide a small amount of force...
This paper proposes a hybrid force/position controller for industrial robotic manipulator based on Kalman filter. Firstly, the mathematical model of real contact force is built to estimate the actual contact force by applying Kalman filter using a force derivative to achieve the system state description. The estimated actual contact force is used to control the end-effector force as well as estimating...
Quadrotor is widely used in the military or civil, which thanks to its high maneuverability, low maintenance cost and easy research. In real life, space fixed-point position control is necessary and essential because of the outdoor GPS or indoor visual positioning. All kinds of research and development are based on the great control performance. However, under actuated, strong coupling and nonlinear...
Automating surgical subtasks such as suturing, cutting, and debridement can reduce surgeon fatigue and procedure time and also facilitate tele-surgery. Especially, suturing is ubiquitous subtask in surgery. To achieve fully autonomous suturing with surgical robot is challenging due to deformation of human tissue. However, certain level of autonomy in robotic surgery could not only free the surgeon...
This paper presents an analysis of response variation in the fast and precise micrometer stroke positioning of table drive systems with rolling friction. The rolling friction in the mechanism behaves as a nonlinear and dynamic elastic component with a hysteresis property in a micro displacement region, which may cause the response variation in a sequential micrometer stroke positioning motion. In...
This paper presents simplified design of a planar induction motor climbing an inclined steel plate. The motor set-up consists of two individually controlled linear motors firmly coupled via an aluminum frame with a drive system to provide 1-D translational and rotational motion. The motor set-up is also equipped with a position sensor to locate the mover in real time. To simplify the motor structure...
A robust feedback position control scheme is presented for quadrotor helicopter in the presence of model parameter uncertainties and external disturbance. Robust position control is guaranteed by disturbance observers designed to estimate model parameters uncertainties and external disturbance. Nonlinear terms in quadrotor model are also viewed as disturbance in disturbance observer design procedure...
In the present work, an adaptive backstepping algorithm is developed in order to counteract the effects of disturbances. These disturbances are modeled as a constant force in the translational model part and as a constant torque in the orientation model part. We make the deduction of the mathematical expression for the proposed control algorithm and also we show its performance in simulation. Additionally,...
This paper reports relations between force control performance and output direction at an end-effector of a limb when a human apply force to a rigid object. A highly backdrivable rehabilitation supporting system is used to provide an evaluation program. It is also used for repetitive force sensing. Measurement on twelve seated subjects can quantify force control accuracy when the subjects try to output...
This paper presents a two-degree-of-freedom (2-DOF) direct drive motor to achieve flexible motion control. As one of the motion control methods, robust position control is significant in order to functionalize industrial robots, machine tools, medical robots, and so on. Furthermore, these requires multi-degree-of freedom motion. Then the authors have proposed 2-DOF direct drive motor, which realizes...
Rehabilitation robots should be able to adapt with physical characteristics of patient body in order to provide a safe and comfortable interaction. In this paper, an elbow rehabilitation robot with novel cable-based series elastic actuator is proposed. The cable actuation mechanism provides two parameters to adjust actuation torque and joint stiffness. An independent position-stiffness control algorithm...
In this paper, a bilateral control method of master slave robot system is conducted. The authors propose a bilateral control method by fusing for force control system and position control system. The master slave robot system is that angle of master robot arm as position information by operator send to slave robot system as control command and then a load received from slave robot arm send to master...
This paper deals with the position control of a servo-pneumatic system in presence of mismatched uncertainties. Pneumatic actuators are used in many industrial applications; such as haptic interfaces, mechatronic systems and robotics. Restriction of control effort, to apply directly on the mismatched uncertainties, causes problem to cope with these kinds of uncertainties. Nonlinearities due to internal...
In a large number of mechanical systems, both structured and unstructured uncertainties often degrade control performance. Among the structured uncertainties, friction force is a common cause of motion control performance degradation. In order to improve the motion control performance in the presence of various uncertainties, this paper presents the LuGre friction model based adaptive robust control...
Recently, the variety of devices and robots are available for recovering and rehabilitating human disorder patients. In this paper, simple and effective control method utilized for position-impedance control. This method consists of two parts, namely position control in free space and fuzzy impedance control in contact. First, kinematics and dynamics of general 6UPS are discussed. Then SimMechanics...
This paper proposes a new robust position control method for a novel series elastic actuator (SEA). It is a wellknown fact that SEAs provide many benefits in force control, e.g., lower reflected inertia and impedance, greater shock tolerance, safety, and so on. However, current SEA designs have a common performance limitation due to the compromise on the selection of spring stiffness. The performance...
In this paper, a flexible conveyance system consists of 4 pole hybrid electromagnet and linear synchronous motor is introduced. Firstly, modeling of 4 pole hybrid electromagnet was derived based on well -known magnetic circuit principles. Then, the control method in which the currents converge virtually to zero is called as “zero power control” is applied to hybrid electromagnet to stabilize the system...
The twin direct drive motor system connected by wire rope has many advantages such as lightweight and high stiffness, widely used in light weight actuation applications. However, because of the elasticity and nonlinearity characteristic, wire rope is difficult to be used in the precise position control applications. In this paper, a novel wire rope pretightening force control strategy by dual direct...
High-gain proportional-integral-derivative (PID) position control can achieve stiff position control but it involves the risk of overshoots in some cases such as discontinuous position commands and disturbances. This paper presents a new position controller that achieves accurate trajectory tracking and overdamped resuming motion from large positional errors and disturbances. The proposed controller...
In recent years, it becomes more common for humans to use teleoperated robot systems. Mobile robot is effective as the teleoperated robot due to its large working area. The conventional mobile robots are generally controlled based on position and velocity control system, and they are not able to transmit tactile information. Introduction of force feedback is an effective solution, but it increases...
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