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This paper presents a method for controlling the zero moment point (ZMP) of walking robots by using spring-mass systems mounted on the robot body. A pair of oscillating spring-mass systems makes a swing motion of the ZMP via periodic change of the spring forces. In contrast to usual methods, where ZMP is controlled through motion planning in terms of joint trajectories, the proposed method is not...
A review of different approaches to setpoint, trajectory tracking, and path following control for autonomous underactuated surface vessels is presented in this work. The review is focused on rigorous control approaches developed using planar autonomous surface vessel models over approximately the last two decades. The controllers are categorized into setpoint, trajectory tracking, and path following...
The operational space formulation is applied to a practical robot system in order to generate realistic human reaching motion based on the minimisation of `effort', a function of gravity and weighting gains. We present a novel optimal sliding mode controller that uses techniques of steepest descent to achieve this minimisation without affecting the task controller. The sliding mode optimal controller...
The aim of this paper is to propose a nonlinear control algorithm that is able to stabilize the attitude and altitude of a quadrotor vehicle, and then to compare it with the classical techniques, such as PID and LQR. The nonlinear algorithm is based on the backstepping methodology integrated with the integral and adaptation schemes. It's called “Adaptive Integral Backstepping Controller” (AIBC). The...
In this paper, a new control design for trajectory tracking of two cooperating rigid-link robot manipulators and vibration-free movement of a flexible beam handled by the two robots which does not require vibration measurement for the beam is presented via Two-time scale and Boundary control theory.
Bucket wheel reclaimer (BWR) has been widely used for stacking/reclaiming bulk materials (i.e. iron ore) onto/from stockpiles in mining industry. Generally speaking, current BWRs are manually operated, remotely operated, or automated to simply follow predefined trajectory patterns. BWRs are very large in size, heavy in weight, expensive in price and slow in motion. It is commonly agreed in the industry...
Kinematics based trajectory planning for parallel manipulators has been studied extensively, e.g., to determine a singularity-free path. Dynamics based trajectory planning, however, gains little concern. In order to fully exploit capacity of parallel robots, it is inevitable to conduct motion planning considering both kinematic and dynamic constraints. In this paper, three dynamics based trajectory...
A hybrid 6-DOF (degrees of freedom) mechanism which has closed-form forward and inverse position solutions is proposed. It consists of two different modules, a planar 3-DOF parallel module and a spatial 1T2R (1-DOF translational motion and 2-DOF rotational motions) parallel mechanism. Both modules have forward and inverse closed-form position solutions and further their output motion spaces are completely...
Most people take freedom to move for granted. However, to physically disabled people who can only depends on wheelchair for their daily movements this freedom is out of reach. Ability of wheelchair users and the access methods used in driving these wheelchairs vary. Variety of users therefore requires systems that are adaptable for many types of access devices. Authors of this paper believe that safety...
One new aspect, introduced in this paper, is the modeling of the human lumbar - a spring is added to the robot to imitate lumbar flexibility and curvature. The Bolzmann machine is used to control robot's posture based on study, and the flexible robot realizes posture control in the self-organizing capacity. The reasonable energy function is defined for the non-linear and strong coupling robot system,...
The dynamic and friction parameters of a redundantly actuated parallel manipulator are identified by using the weighted least square (WLS) method. The dynamic model with nonlinear friction is formulated in the joint space for the parallel manipulator, and it is expressed in its linear matrix form with respect to the dynamic and friction parameters. In the WLS method, the difference algorithm of joint...
We present a generic framework that allows learning non-linear dynamics of motion in manipulation tasks and generating dynamical laws for control of position and orientation. This work follows a recent trend in Programming by Demonstration in which the dynamics of an arm motion is learned: position and orientation control are learned as multi-variate dynamical systems to preserve correlation within...
In this paper, we present trajectory tracking and balancing of autonomous motorcycles for agile maneuvers. Based on the newly developed autonomous motorcycle dynamics in the companion paper, we present a nonlinear control design. The control systems design is based on the external/internal convertible (EIC) dynamical structure of the motorcycle dynamics. The control design of the EIC systems guarantees...
In this paper, controller on dynamic positioning of nonlinear offshore platform under stochastic wave is designed based on rolling horizon optimization. In order to improve the efficiency of searching for optimum controller sequence, controller structure based on the output of proportional-integral-differential is brought out. The method above is of feed-forward characteristics using predictive controller...
In this paper, an artificial neural network (ANN) based control scheme is introduced for the inverted pendulum motion and posture control problem. The adaptive control strategy consists of a Lyapunov stability-based online weights adaptation that provides asymptotic tracking while learning the nonlinear inverted pendulum system's dynamics. Unlike other control strategies, no a priori offline training,...
Electromechanical coupling dynamic model of parallel manipulator is a kind of a complicated electromechanical system which is multi-input, multi-output, nonlinear and strong coupling. There is not a perfect method to calculate dynamic modeling and simulation of parallel manipulator at present. 6UPS-parallel manipulator dynamic model was set up by Lagrange method; PID position controller was designed;...
Many critical elements for statically stable walking for legged robots have been known for a long time, including stability criteria based on support polygons, good foothold selection, recovery strategies to name a few. All these criteria have to be accounted for in the planning as well as the control phase. Most legged robots usually employ high gain position control, which means that it is crucially...
This paper focuses on generation of feedforward torque for precise joint-trajectory tracking of a multi-joint robot arm with serially connected links. A proposed method called basis-motion torque composition, based on four arithmetical operations of time-series torque data for several motions, allows to generate feedforward torque for a motion whose final posture and time profile are specified. The...
This work includes modelling and analysis of collision and jamming as really present phenomena in the realization of the contact of elastic robotic mechanism with the environment. Jamming and collision is implicated in complex robotic system who's kinematic is created (direct and inverse kinematics) as well as the process of synthesis of trajectory, and then a dynamic model under the influence of...
Design and verification of forced dynamics position control of a drive with a linear permanent magnet synchronous motor is presented. This control method is a relatively new one and using the principles of feedback linearisation offers an accurate realisation of a dynamic speed and position response, which can be selected for a given application by the user. In addition to this, the primary part current...
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