Trajectory controls and its analysis for robot arm using flexible pneumatic cylinders

2015 ◽  
Author(s):  
Mohd Aliff ◽  
Shujiro Dohta ◽  
Tetsuya Akagi
Keyword(s):  
Robot Arm ◽  
Its Analysis ◽  
Pneumatic Cylinders

Simple Trajectory Control Method of Robot Arm Using Flexible Pneumatic Cylinders

2015 ◽  
Vol 27 (6) ◽  
pp. 698-705 ◽  
Author(s):  
Mohd Aliff ◽  
◽  
Shujiro Dohta ◽  
Tetsuya Akagi ◽  
Keyword(s):  
Control Method ◽  
Trajectory Control ◽  
Robot Arm ◽  
Flexible Robot ◽  
Repetitive Tasks ◽  
Embedded Controller ◽  
Linearized Model ◽  
Speed Accuracy ◽  
Pneumatic Cylinders ◽  
Individual Condition

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270006/12.jpg"" width=""300"" /> Flexible robot arm</div>Robots, due to their excellent speed, accuracy and cost-effectiveness in repetitive tasks, now have a tendency to be used in rehabilitation field. A simple trajectory control of robot arm using flexible pneumatic cylinders and embedded controller which can be used as rehabilitation for human wrist is described. The system consists of the flexible robot arm, an accelerometer, an embedded microcomputer, a potentiometer and compact quasi-servo valves. The analytical model for trajectory control is proposed and applied on the flexible pneumatic robot arm. The proposed trajectory control method does not need a linearized model which is commonly used in a robot arm. The flexible structure has the characteristics of high safety such as not to cause harm to user and is suitable for use in therapeutic devices. The trajectory control can help patients recover more quickly by repeating the movements based on the patient's individual condition. Both experiment and simulation show that the trajectory control of robot arm can be realized for several kinds of trajectory by using the proposed control method and the tested robot arm.

Light Optical Diffraction Studies of Macromolecular Ultrastructure

1970 ◽  
Vol 28 ◽  
pp. 258-259
Author(s):  
Glen B. Haydon
Keyword(s):  
High Resolution ◽  
Diffraction Analysis ◽  
Diffraction Pattern ◽  
Electron Micrographs ◽  
Optical Diffraction ◽  
Electron Micrograph ◽  
Its Analysis ◽  
Resolution Electron ◽  
Diffraction Patterns

Analysis of light optical diffraction patterns produced by electron micrographs can easily lead to much nonsense. Such diffraction patterns are referred to as optical transforms and are compared with transforms produced by a variety of mathematical manipulations. In the use of light optical diffraction patterns to study periodicities in macromolecular ultrastructures, a number of potential pitfalls have been rediscovered. The limitations apply to the formation of the electron micrograph as well as its analysis.(1) The high resolution electron micrograph is itself a complex diffraction pattern resulting from the specimen, its stain, and its supporting substrate. Cowley and Moodie (Proc. Phys. Soc. B, LXX 497, 1957) demonstrated changing image patterns with changes in focus. Similar defocus images have been subjected to further light optical diffraction analysis.

Estimation and Kinetic Modeling of Human Arm using Wearable Robot Arm

2016 ◽  
Vol 136 (4) ◽  
pp. 254-262 ◽  
Author(s):  
Takahiro Yamazaki ◽  
Sho Sakaino ◽  
Toshiaki Tsuji
Keyword(s):  
Kinetic Modeling ◽  
Robot Arm ◽  
Wearable Robot ◽  
Human Arm
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