Gesture based robotic arm control for meal time care using a wearable sensory jacket

2016 ◽  
Author(s):  
Karlos Ishac ◽  
Kenji Suzuki
Keyword(s):  
Robotic Arm ◽  
Meal Time ◽  
Robotic Arm Control

Fuzzy model predictive control for 2-DOF robotic arms

2018 ◽  
Vol 38 (5) ◽  
pp. 568-575 ◽  
Author(s):  
Weilin Yang ◽  
Wentao Zhang ◽  
Dezhi Xu ◽  
Wenxu Yan
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Fuzzy Model ◽  
Robotic Arm ◽  
Real Time System ◽  
Content Type ◽  
Loop Control ◽  
Robotic Arms ◽  
Intrinsic Nonlinearity ◽  
Robotic Arm Control

Purpose Robotic arm control is challenging due to the intrinsic nonlinearity. Proportional-integral-derivative (PID) controllers prevail in many robotic arm applications. However, it is usually nontrivial to tune the parameters in a PID controller. This paper aims to propose a model-based control strategy of robotic arms. Design/methodology/approach A Takagi–Sugeno (T-S) fuzzy model, which is capable of approximating nonlinear systems, is used to describe the dynamics of a robotic arm. Model predictive control (MPC) based on the T-S fuzzy model is considered, which optimizes system performance with respect to a user-defined cost function. Findings The control gains are optimized online according to the real-time system state. Furthermore, the proposed method takes into account the input constraints. Simulations demonstrate the effectiveness of the fuzzy MPC approach. It is shown that asymptotic stability is achieved for the closed-loop control system. Originality/value The T-S fuzzy model is discussed in the modeling of robotic arm dynamics. Fuzzy MPC is used for robotic arm control, which can optimize the transient performance with respect to a user-defined criteria.

Real-time Robotic Arm Control Embedded System using Hand Gestures

2021 ◽  
Vol 19 (11) ◽  
pp. 45-53
Author(s):  
Chung-Geun Kim ◽  
Eun-Su Kim ◽  
Jae-Wook Shin ◽  
Bum-Yong Park
Keyword(s):  
Embedded System ◽  
Real Time ◽  
Robotic Arm ◽  
Hand Gestures ◽  
Robotic Arm Control

Proof of Concept of an Assistive Robotic Arm Control Using Artificial Stereovision and Eye-Tracking

2019 ◽  
Vol 27 (12) ◽  
pp. 2344-2352 ◽  
Author(s):  
Yann-Seing Law-Kam Cio ◽  
Maxime Raison ◽  
Cedric Leblond Menard ◽  
Sofiane Achiche
Keyword(s):  
Eye Tracking ◽  
Robotic Arm ◽  
Proof Of Concept ◽  
Robotic Arm Control ◽  
Assistive Robotic
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