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In this paper, the presence of limit cycles in the behavior of antagonistically coupled Magneto-Rheological (MR) actuators is investigated. The actuator considered in this paper was developed and described in [1] and [2]. This actuator offers high torque-to-mass and torque-to-inertia ratios, for inherent safe actuation. While the antagonistic arrangement is beneficial in improving the actuator performance...
In this paper, contact force control of a quadrotor system is presented. Due to an expensive cost of sensors for localization, a camera system is used to locate the quadrotor system. Using a maker on the top of a quadrotor system, heading direction can be justified. Based on the localization, the position control of a quadrotor system is performed in indoor environment. In addition, contact force...
This paper addresses the problem of force and position control for an unmanned coaxial rotorcraft physically interacting with its environment through contact. The proposed control strategy equips the unmanned aerial robot with the capability to safely establish contact with the surfaces of its environment and apply desired forces on them while performing sliding maneuvers. A hybrid force/position...
This paper reports on a study whose objective is to explore the potential and compare the performance of intelligent adaptive control methods. Specifically, the performance of PID plus an adaptive neural network compensator (ANNC) is compared with the performance of a fuzzy adaptive PID controller. The application is position control of a pneumatic gantry robot. Both controllers were carefully tuned...
Part handlings based on solid-to-solid contacts such as pick-and-place with a gripper or transporting by a conveyor belt are very common in automation systems. In case of handling frasile or flexible objects, it is required to manipulate an object without using direct solid-to-solid contact between the object and a tool. We introduce an air-jet table that can manipulate a flat object by changing the...
This paper presents the novel contact force control approach of a quad-rotor system to interact with the environment in the constrained space. Although the quad-rotor system is not rigid, a contact force in the altitude can be regulated by the position-based impedance force control scheme that adjusts the reference trajectory with respect to the applied force through an admittance filter. This simplifies...
This paper describes the smart windoro which is the follow-up model of the windoro. The windoro is the world's first commercialized window cleaning robot, which is a fully autonomous intelligent window cleaning robot. The windoro adheres to the surface of window glass by means of four permanent magnet pairs between an inner unit and an outer unit rather than using vacuum suckers for the energy efficiency...
This paper presents a new Haptic Rate-Position controller, which allows manipulating a slave robot in a large workspace. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing tasks in a large remote workspace by using a haptic device with a reduced workspace such as Phantom. Experimental results have been carried...
It is highly important to avoid damage to the objects during robotic grasping and manipulation, a parallel control strategy for a master-slave finger of robot hands is proposed in this paper. The PID controller is adopted in the position control system of the master finger, and simultaneously explicit force control is used to the slave system which external force loops are closed around the position...
Tendon-driven systems are one of efficient methods to downsize robots. This paper discusses application of tension control into a joint using cable differential. Cable differential is mechanism which allows two-degrees of freedom (DOF) in one joint. Controllers for the cable differential-driven joint are proposed in the paper. The joint is actuated by four linear motors. The controllers are designed...
We have already proposed high order tuner (HOT) which uses a smooth projection algorithm to ensure the positive definiteness of an estimated inertia matrix for realizing a stability and a good transient response of adaptive tracking control system based on [7] for a rigid link robot arm. Also, we proposed a HOT capable to constrain adjustable parameters into hyper-parallelogram region [8, 9]. In this...
Dexterous robotic arms have gained increasing attention in the robotics community in recent years, especially snake-like robots. A cable-driven snake-like robot arm (CDSLRA) owns a number of promising advantages such as: light-weight structure, low energy consumption, high speed motion due to low moment inertia and it is suitable to work in constrained work-conditions. A prototype consisting a series...
This paper introduces the mechanical design and the control concept of the Series Compliant Articulated Robotic Leg ScarlETH which was developed at ETH Zurich for fast, efficient, and versatile locomotion. Inspired by biological systems, we seek to achieve this through large compliances in the joints which enable natural dynamics, allow temporary energy storage, and improve the passive adaptability...
Using an output saturation function of the error vector (difference between the target vector and the revolution angle vector), globally asymptotic stability of any equilibrium state can be achieved for an anti-windup PID position control of Euler-Lagrange systems with actuator saturation. The control performance is verified by numerical simulations and experiments on a two-link robot arm.
In recent years, robot-assisted rehabilitation systems have become an active research area to quantitatively monitor and adapt to patient progress, and to ensure consistency during the rehabilitation. In this work, an exoskeleton type robot-assisted rehabilitation system called RehabRoby is developed for rehabilitation purposes. An admittance control with inner robust position control loop has been...
This paper presents a method to model planar continuum robots with backbone, and introduces a method to control, based on the Jacobian matrix. The model includes forces and moments applied to the robot, and is exact in contrast to constant curvature models. Then the position control strategy is presented to put the robot tip in a desired position. Results are illustrated using a three-section continuum...
The compliance of an underactuated robotic hand, or a robotic hand with fewer actuators than degrees of freedom, is a function of the mechanism type, the design parameters, and the operational control mode. The transmissions used in underactuated mechanisms can be divided into two main classes based on the self-adaptive transmission used to route actuation to the various degrees of freedom, namely...
In order to realize accuracy control, a trajectory planning algorithm is designed for the 4 DOF articulated eggplant-picking robot. The structure selection of the robot is made according to the eggplant's growth circumstance and distribution space. The robot kinematics model is established with D-H method and the forward kinematics solution for the robot is obtained. The inverse kinematics solution...
The acrobot is an under-actuated three-joint planar robot that mimics the human acrobat who hangs from a bar and tries to swing up to a perfectly balanced upside-down position with his/her hands still on the bar. In this paper we first design the under-actuated three-joint acrobot which like human being both in actuate and appearance. And then, dynamic model is derived by Lagrange equations, and controllable...
This paper studies mobility strategies to control positions of mobile robots in a mobile sensor network in order to maximize lifetime of the network. With communication and mobility energy costs modeled, the problem is formulated into a nonlinear non-convex optimization problem, then reformulated into a convex optimization problem. The separable property of the system is then exploited by Lagrangian...
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