scholarly journals Modeling and synthesizing quasi-time control laws for two degrees of freedom robotic arm

2019 ◽  
Author(s):  
C. X. Nguyen ◽  
H. N. Phan ◽  
L. D. Hoang ◽  
H. T. Nguyen ◽  
KH. D. Truong ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Robotic Arm ◽  
Control Laws ◽  
Two Degrees Of Freedom ◽  
Time Control

scholarly journals Minimum-Time Control of a Manipulator with Two-Degrees of Freedom

1983 ◽  
Vol 26 (218) ◽  
pp. 1404-1410 ◽  
Author(s):  
Osamu SATO ◽  
Hiroshi SHIMOJIMA ◽  
Yoshiyuki KITAMURA
Keyword(s):  
Degrees Of Freedom ◽  
Minimum Time ◽  
Two Degrees Of Freedom ◽  
Time Control

scholarly journals Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Mohammad Dehghani ◽  
S. Ali A. Moosavian
Keyword(s):  
Degrees Of Freedom ◽  
Contact Point ◽  
Nonlinear Behavior ◽  
Robotic Arm ◽  
Dynamics Modeling ◽  
Real Time Control ◽  
Time Control ◽  
Cosserat Rod ◽  
Circular Arcs ◽  
Continuum Robotic

Grasping objects by continuum arms or fingers is a new field of interest in robotics. Continuum manipulators have the advantages of high adaptation and compatibility with respect to the object shape. However, due to their extremely nonlinear behavior and infinite degrees of freedom, continuum arms cannot be easily modeled. In fact, dynamics modeling of continuum robotic manipulators is state-of-the-art. Using the exact modeling approaches, such as theory of Cosserat rod, the resulting models are either too much time-taking for computation or numerically unstable. Thus, such models are not suitable for applications such as real-time control. However, based on realistic assumptions and using some approximations, these systems can be modeled with reasonable computational efforts. In this paper, a planar continuum robotic arm is modeled, considering its backbone as two circular arcs. In order to simulate finger grasping, the continuum arm experiences a point-force along its body. Finally, the results are validated using obtained experimental data.

scholarly journals Minimum-time-control of a Manipulator with Two Degrees of Freedom : Part 2, Dynamic Characteristics of Gear Train and Axes

1985 ◽  
Vol 28 (239) ◽  
pp. 959-963 ◽  
Author(s):  
Osamu SATO ◽  
Hiroshi SHIMOJIMA ◽  
Yoshiyuki KITAMURA ◽  
Hiroshi YOINARA
Keyword(s):  
Dynamic Characteristics ◽  
Degrees Of Freedom ◽  
Minimum Time ◽  
Gear Train ◽  
Two Degrees Of Freedom ◽  
Time Control

scholarly journals FUZZY TRACKING CONTROL OF TWO DEGREES OF FREEDOM ROBOTIC ARM

2010 ◽  
Vol 38 (1) ◽  
pp. 135-156
Author(s):  
Mahmoud M. Othman ◽  
Abdel Badie Sharkawy ◽  
Abouel Makarem A. Khalil
Keyword(s):  
Tracking Control ◽  
Degrees Of Freedom ◽  
Robotic Arm ◽  
Two Degrees Of Freedom

The scientific bases of autocontrol with vibration phase for a resonance beating-vibration system with two degrees of freedom driven by debalances

1996 ◽  
Vol 18 (2) ◽  
pp. 43-48
Author(s):  
Tran Van Tuan ◽  
Do Sanh ◽  
Luu Duc Thach
Keyword(s):  
Degrees Of Freedom ◽  
Regulation System ◽  
Vibration System ◽  
Two Degrees Of Freedom ◽  
System Operating

In the paper it is introduced a method for studying dynamics of beating-vibrators by means of digital calculation with the help of the machine in accordance with the needs by the helps of an available auto regulation system operating with high reability.

The Development of a Myoelectric Training Tool for Above-Elbow Amputees

2012 ◽  
Vol 6 (1) ◽  
pp. 5-15 ◽  
Author(s):  
Michael R Dawson ◽  
Farbod Fahimi ◽  
Jason P Carey
Keyword(s):  
Degrees Of Freedom ◽  
Learning Task ◽  
Robotic Arm ◽  
Signal Acquisition ◽  
Myoelectric Prosthesis ◽  
Training Tool ◽  
Myoelectric Prostheses ◽  
Training Systems ◽  
Targeted Muscle Reinnervation

The objective of above-elbow myoelectric prostheses is to reestablish the functionality of missing limbs and increase the quality of life of amputees. By using electromyography (EMG) electrodes attached to the surface of the skin, amputees are able to control motors in myoelectric prostheses by voluntarily contracting the muscles of their residual limb. This work describes the development of an inexpensive myoelectric training tool (MTT) designed to help upper limb amputees learn how to use myoelectric technology in advance of receiving their actual myoelectric prosthesis. The training tool consists of a physical and simulated robotic arm, signal acquisition hardware, controller software, and a graphical user interface. The MTT improves over earlier training systems by allowing a targeted muscle reinnervation (TMR) patient to control up to two degrees of freedom simultaneously. The training tool has also been designed to function as a research prototype for novel myoelectric controllers. A preliminary experiment was performed in order to evaluate the effectiveness of the MTT as a learning tool and to identify any issues with the system. Five able-bodied participants performed a motor-learning task using the EMG controlled robotic arm with the goal of moving five balls from one box to another as quickly as possible. The results indicate that the subjects improved their skill in myoelectric control over the course of the trials. A usability survey was administered to the subjects after their trials. Results from the survey showed that the shoulder degree of freedom was the most difficult to control.

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