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A ping pong robot with 5 degree of freedoms is designed in this paper. It consists of a PC, a high speed stereovision system with two smart cameras, AC servo motors and step motors. The hitting task of the ping pong robot is divided into three stages: the measurement and prediction stage, the planning stage and the execution stage. In the planning stage, we propose series of methods to plan the paddle...
This paper presents the control design and test results of the high speed position control of a spherical pendulum system. Altogether three oscillatory modes are considered: two swing modes and a torsion mode. A sequence of input shapers including the Zero Vibration and Zero Vibration-Derivative shapers are implemented in the robot controller to minimize command induced cable swing. Experiment data...
A filter for trajectories smoothing is presented. The filter provides an output reproducing the input trajectory if this is compliant with given constraints on the velocity, the acceleration and the torque required for tracking it. Otherwise, the filter approximates the input profile guaranteeing that the output trajectory satisfies all the kinematic and dynamic limits. The tracking of the input signal...
This paper investigates the cooperative work of distributed robot maintaining retention of swarm, especially in the case of going up slope. Our control law to keep the high retention of the robot swarm has been developed, and its effectiveness for an environment with obstacles has been confirmed by using ODE (Open Dynamics Engine). This paper considers an environment with the slope and investigates...
A three-channel bilateral control system which is hybrid of position control and force control in the acceleration dimension based on disturbance observer gets unstable in contact with environments under time delay. In this control system, the sum of master force and slave force is controlled to zero in common modal space to realize the law of action-reaction. This paper proposes a velocity damping...
Zebrafish is increasingly used as a model for the pathogenic mechanisms of human disease and drug discovery. Robot-assisted microinjection has attracted much attention due to their great potential in providing high precision and high throughput in biological industry. In this paper, we propose a flexible and integrated robot-assisted microinjection platform, which is able to (1) conduct precise position/velocity...
Achieving energy efficiency remains an important goal in legged robot running. This paper presents a novel offline method to generate globally efficient gaits for a point-foot articulated hopping robot. Previous gait generators found in the literature do not reach a global optimum, since takeoff and touch-down (transition) states are pre-specified. In this work, an optimization procedure produces...
As a stage toward a complete upper-arm motion assisted exoskeleton robot (i.e., 7DOF) this paper focused on the development of a 2DOF exoskeleton robot to rehabilitate and to ease wrist joint movements. To perform essential daily activities the movement of shoulder, elbow, and wrist play a vital role and proper functioning of the upper-limb is essential. We therefore have been developing an exoskeleton...
The present paper proposes the throwing manipulation method which cannot only control the position and orientation of the rigid object at the final goal, but also make the object track the desired trajectory which minimizes the impact at landing to avoid damages to the object as much as possible. Due to a model uncertainty, it is generally difficult to obtain the exact model and find appropriate control...
As the human society steps into the aging society, robots play more and more important roles in our daily life, especially in nursing activities. As we all know, the human body has numerous joints and each joint has at least one degree of freedom. Hence, changing the attitude of human body is very complex. In this paper, we consider the human body as a redundant system and only interested parts of...
Bilateral teleoperation is expected to be a key technology for the next generation of robots. Indeed, in many fields of operation, a master-slave system is needed to remotely perform tasks in unknown environments. However, most ground-based haptic devices show some limitations when exploring large workspaces with a high mobility slave robot. In order to address this issue, a hybrid control strategy,...
The goal of this paper is to present the first controller that has been applied to an original system, which is a direct-drive submersible grinding robot. Since this application is quite recent, an analogy is made with machine tools equipped with linear motors, and the control methods that have been applied are reviewed. This review has led to the selection of the sliding-mode controller with the...
A self-organizing neural sliding mode controller (SONSMC) is presented for trajectory tracking control of multi-link robots with model errors and uncertain disturbances. This approach gives a new global sliding mode manifold for multi-link robots, which enable system trajectory to run on the sliding mode manifold at the start point and eliminate the reaching phase of the conventional sliding mode...
Robot navigation has been a hot topic in the area of mobile robot. A lot of research has been undergone ranging from noble algorithms to applications. Fisheye image has wide angle View and it is easy to obtain the position of the object and keep it in vision within large scale, so it is an important research domain in robot navigation. However it has a disadvantage that the image obtained from fisheye...
The following topics are dealt with: traffic engineering; robots; positioning systems; servomotors; fuzzy logic controller; neural networks; and industrial control.
To perform essential daily activities the movement of shoulder, elbow, and wrist play a vital role and therefore proper functioning of upper-limb is very much essential. We therefore have been developing an exoskeleton robot (ExoRob) to rehabilitate and to ease upper limb motion. Toward to make a complete (i.e., 7DOF) upper-arm motion assisted robotic exoskeleton this paper focused on the development...
Adaptive fuzzy control scheme is given and applied to position control of a single finger joint for a dual-thumbed hand. The dynamic model of the hand is established. The fuzzy control rules based on the characteristics of human being grasping is determined. The effectiveness of the presented control scheme is proved through simulation experiment for a dual-thumbed hand. The experiment results show...
This work describes an optical measuring device that comprises multiple laser mouse sensors to estimate 3-DOF planar motion. The linear least squares (LLS) method and nonlinear least squares (NLS) method are adopted to estimate the positions in this over-determined system. Two circular trajectories - non-orientated and self-orientated - are employed to evaluate the feasibility of the proposed device...
A sliding mode control is developed to solve the tracking control problem for an inertia wheel pendulum. The desired trajectory is centered at the upright position where the open-loop system becomes a non-minimum-phase system. As a first step towards the solution of the tracking control problem is the reference trajectory generation where we develop a reference model, based on the two-relay controller,...
This paper describes an experimental approach to the positioning of a MEMS production system with a nano - scale resolution. Presented production system works on the basis of friction based piezo electric motors, which are being very hard for modeling. It is even being hard to describe this motors using classical mathematical functions, or to define them using other well known control procedures....
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