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In view of many applications, in recent years, there has been increasing interest in robot's control. Two intelligent controllers based on fuzzy logic and neural network are developed to trace the desired trajectory for a robot. A variety of evolutionary algorithms, have been proposed to approximately solve problems of common engineering applications. Increasingly common applications involve automatic...
The controller design is one of the major difficulties in realizing robot-aided rehabilitation program. The purpose of our study is to develop an adaptive impedance force control strategy based on dynamic recurrent fuzzy neural network to maintain the stability of the rehabilitation robot system in the case when the patient's physical condition makes a change. An on-line identification method was...
Comparing with hip and knee, the design of exoskeleton ankle is much more difficult due to the strict requirements of smaller space, better rigidity and heavier load. A novel ankle exoskeleton with 3-RPS (Revolute- Prismatic-Spherical) parallel mechanism, which can fully sustain the heavy load of human body with good dynamic and kinematic performances, has been conducted to assist rehabilitation of...
The object of this paper is to design a LMI-based fuzzy controller for a MIMO two-link robot arm using quantum evolutionary algorithms. The Takagi-Sugeno (T-S) fuzzy approach is utilized to represent the equation of motion of two-link robot arm. The stability of the fuzzy system is guaranteed by linear matrix inequality (LMI) from Lyapunov stability approach. The quantum evolutionary algorithms (QEA)...
In the RoboCup emulational group, when the player intends to make a move, he needs first to observe the information of the market-related to determine whether the action should be executed. In most cases, players want to observe the objects are not unique. Therefore, in each cycle, all requests of players send to the visual decision-making system structure a visual observation of the request queue...
This paper presents a fuzzy controller implementation in FPGA (Field Programmable Gate Array) for a robot that rides a bicycle using the well-known Acrobot model. The overall system presents a hardware/software codesign approach and it was achieved by means of a Microblaze FPGA embedded processor and a fuzzy controller, which was implemented directly in hardware. Both the microprocessor and the controller...
Visual servoing, using the visual measurements direct in the control loop, is a problem that in recent years has grown in interest. One of the main problems involved in these systems is that, while the robot manipulator has a well known model and identification methods have been available, the vision system introduces a nonlinear transformation and modifies the dynamics as seen in the image plane...
This paper presents the design and implementation of a three-dimensional (3D) location system to provide accurate location information. The location information is computed by applying Trilateration technique on three sets of collected distance measurements. Trilateration technique is implemented to improve the accuracy of the location system. The 3D system is able to provide accurate locations for...
The height of the transverse machine of the straw-checkerboard sand barriers paving robot affects the paving quality heavily. A height servo system based on multi-sensor data fusion and fuzzy control is proposed. The servo system includes ten ultrasonic telemeters, a single chip and a programmable logic controller. The ultrasonic telemeters get the height of the transverse machine from different position,...
This study deals with a master-slave control system for virtual reality-based tele-operation construction robot, which consists of an construction robot(CR), two joysticks for operating CR from a remote place, and two screens of 3DVisor device display used to present the virtual working field. The force presentation is essential information to the operator in this system, namely, the operator needs...
Intensive task-oriented repetitive physical therapies need be provided by individualized interaction between the patients and the rehabilitation specialists to improve hand motor performance for those survived from stroke and traumatic brain injury. The goal of this research is to develop a novel wearable device for robotic assisted hand repetitive therapy. We designed a pneumatic muscle (PM) driven...
In this article, we proposed an OGY controller which have been progressed with some fuzzy rules definition and applied for two-link rigid robot arm. By applying a proper input this robot arm could be in a chaotic space. To obtain a complete database, the input amplitude is varied in chaotic range, afterward the unstable period orbits (UPOs) of the plant, by using the Poincare map, and the convenient...
Fuzzy algorithms provide intuitive method for robot obstacle avoidance. Fuzzy controllers incorporating a design based on lookup tables (LUT) enable faster obstacle avoidance in environment with multiple obstacles. In an earlier study, we introduced a full LUT-based architecture for an 18-rule positive/negative (P/N) fuzzy controller. In this study, the number of fuzzy rules is expanded to 50. Because...
This paper presents a novel technique to tune the parameters of a fuzzy logic controller using a combination of reinforcement learning and genetic algorithms. The proposed technique is called a Q(λ)-learning based genetic fuzzy logic controller (QLBGFLC). The proposed technique is applied to a pursuit-evasion game in which the pursuer does not know its control strategy. We assume that we do not even...
This paper presents a new method of using hybrid intelligent systems to solve the problem of tuning the parameters of a fuzzy logic controller. Two different hybrid intelligent systems are introduced in this paper. Each system proposes learning in a two-stage iterative process. The first system combines a fuzzy logic controller with genetic algorithms to form the iterative genetic based fuzzy logic...
In this paper, we propose an adaptive fuzzy output feedback control method for trajectory tracking control problem for robotic systems. Using Lyapunov method, we first develop a stable adaptive fuzzy state feedback control algorithm by assuming that the systems output and its derivatives are available for feedback control design. The algorithm combines fuzzy systems with robust adaptive controller...
To solve the level-adjusting and force-tuning problems of high accurate and costly payloads when loading and unloading, a cable-driven auto-leveling parallel robot is developed. A hierarchical fuzzy controller, which has the ability to deal with the rule explosion problem, is proposed in this paper. After a brief introduction of the architecture of the closed-loop control system for the cable-driven...
In this paper we present a fuzzy self-tuning algorithm to select the Proportional, Integral and Derivative gains of a PID controller according to the actual state of a robotic manipulator. The stability via Lyapunov theory for the closed loop control system is also analyzed and shown that is locally asymptotically stable for a class of gain matrices depending on the manipulator states. This feature...
This paper mainly discusses learning in pursuit-evasion game. In the pursuit-evasion model, one robot pursues another one in a partially known environment. Partially known environment means that each robot knows the instant position of the other robot but at the same time none of them knows its control strategy. Therefore, both robots have to self-learn their control strategies on-line by interaction...
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