POSITION CONTROL OF SINGLE LINK UNDERWATER ROBOT MANIPULATOR

2015 ◽  
Vol 74 (9) ◽  
Author(s):  
Ahmad Zaki Hj Shukor ◽  
Muhammad Fahmi Miskon ◽  
Fariz Ali @ Ibrahim ◽  
Muhammad Khairi Md Nor
Keyword(s):  
Pid Control ◽  
Position Control ◽  
Robot Manipulator ◽  
Single Link ◽  
Underwater Manipulator ◽  
Frequency Position ◽  
Underwater Manipulation ◽  
Ship Repair ◽  
Reference Trajectories ◽  
Manipulator Control

This paper presents the responses of underwater manipulator control using conventional PID controller. Underwater manipulation tasks are difficult due to the presence of water as its environment. Many underwater vehicles invented incorporate underwater manipulators which could be used for underwater rescue, recovery or operations such as welding or ship repair. It is desired to investigate the position response of underwater manipulator using conventional PID control without modelling the dynamics which includes motion in water. For this purpose, a single link manipulator was experimented and compared between the response of the manipulator underwater and the manipulator without water to compare accuracy of the position tracking. Two different reference trajectories were given, namely step and varying frequency position control.

Vision-Based Tip Position Control of a Single-Link Robot Manipulator

2019 ◽  
Author(s):  
Umesh Kumar Sahu ◽  
Arun Mishra ◽  
Biswajeet Sahu ◽  
Prateek Priyaranjan Pradhan ◽  
Dipti Patra ◽  
...  
Keyword(s):  
Position Control ◽  
Robot Manipulator ◽  
Single Link ◽  
Tip Position

Development of a Master-Slave Robotic System for MRI-Guided Intracardiac Interventions

2013 ◽  
Author(s):  
Amirhossein Salimi ◽  
Amin Ramezanifar ◽  
Javad Mohammadpour ◽  
Karolos M. Grogoriadis
Keyword(s):  
Magnetic Resonance Imaging ◽  
Pid Control ◽  
Control Design ◽  
Robotic System ◽  
Experimental Setup ◽  
Resonance Imaging ◽  
Parallel Platform ◽  
Mri Guided ◽  
Magnetic Resonance Imaging Mri ◽  
Reference Trajectories

Restricted space inside the magnetic resonance imaging (MRI) scanner bore prevents surgeons to directly interact with the patient during MRI-guided procedures. This motivates the development of a robotic system that can act as an interface during those interventions. In this paper, we present a master-slave robotic system as a solution to the aforedescribed issue. The proposed system consists of a commercial PHANTOM device (product of The Sensable Technologies) as the master robot and an MRI-compatible patient-mounted parallel platform (that we name ROBOCATH) designed to serve as the slave mechanism inside the scanner bore. We present in this paper the design principles for the platform, as well as the PID control design for the system. We use our experimental setup to evaluate the performance of the system by examining the effectiveness of the slave platform in tracking the reference trajectories generated by the master robot.

scholarly journals Position Control of Ultrasonic Motor Using IMC-PID Combined with Tribes Type NN Algorithm

2011 ◽  
Vol 2-3 ◽  
pp. 12-17
Author(s):  
Sheng Lin Mu ◽  
Kanya Tanaka
Keyword(s):  
Neural Network ◽  
Particle Swarm Optimization ◽  
Pid Control ◽  
Position Control ◽  
Back Propagation ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Ultrasonic Motor ◽  
Swarm Optimization

In this paper, we propose a novel scheme of IMC-PID control combined with a tribes type neural network (NN) for the position control of ultrasonic motor (USM). In this method, the NN controller is employed for tuning the parameter in IMC-PID control. The weights of NN are designed to be updated by the tribes-particle swarm optimization (PSO) algorithm. This method makes it possible to compensate for the characteristic changes and nonlinearity of USM. The parameter-free tribes-PSO requires no information about the USM beforehand; hence its application overcomes the problem of Jacobian estimation in the conventional back propagation (BP) method of NN. The effectiveness of the proposed method is confirmed by experiments.

Sign in / Sign up

Export Citation Format

Share Document