scholarly journals Design and Control of a Compliant Parallel Manipulator

2002 ◽  
Vol 124 (4) ◽  
pp. 676-683 ◽  
Author(s):  
Thomas G. Sugar ◽  
Vijay Kumar
Keyword(s):  
Mobile Robot ◽  
Parallel Manipulator ◽  
Parallel Architecture ◽  
Experimental Results ◽  
Control Scheme ◽  
In Series ◽  
And Control ◽  
Cartesian Stiffness ◽  
Novel Design

We describe a novel design for a compliant arm that can be mounted on a mobile robot. Because the arm is compliant, a mobile robot can manipulate or interact with objects that are not precisely positioned in the environment. The main features of the arm are the in-parallel architecture and a novel control scheme that allows us to easily control the Cartesian stiffness or impedance in the plane. Springs are added in series to the limbs of the parallel manipulator. We analyze one limb and the manipulator to determine its performance when either controlling the force applied to an object or controlling its stiffness. Further, we present experimental results that show the performance of the compliant arm.

Design and Control of a Compliant Parallel Manipulator for a Mobile Platform

1998 ◽  
Author(s):  
Thomas Sugar ◽  
Vijay Kumar
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Parallel Manipulator ◽  
Parallel Architecture ◽  
Contact Forces ◽  
Control Scheme ◽  
Manipulation Task ◽  
And Control ◽  
Cartesian Stiffness ◽  
Novel Design

Abstract We describe a novel design for a compliant arm that can be mounted on a mobile robot. The main features of the arm are the in-parallel architecture of the arm and a novel control scheme that allows us to easily control the Cartesian stiffness or impedance in the plane. Because the arm is compliant, a mobile robot can manipulate or interact with objects that are not precisely positioned in the environment. Further, a mobile robot equipped with such an arm can cooperate with other mobile robots in manipulation tasks. For example, two such arms can hold an object in a stable grasp by applying and maintaining appropriate contact forces with the appropriate stiffness. We present experimental results that show the performance of the compliant arm and the use of the arm while two platforms cooperate in a manipulation task.

scholarly journals A Time Domain Passivity Control Scheme for Bilateral Teleoperation

Electronics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 325 ◽  
Author(s):  
Long Sheng ◽  
Usman Ahmad ◽  
Yongqiang Ye ◽  
Ya-Jun Pan
Keyword(s):  
Time Domain ◽  
Parametric Design ◽  
Switching Time ◽  
Experimental Results ◽  
Division Problem ◽  
Bilateral Teleoperation ◽  
Safe Operation ◽  
Guaranteed Stability ◽  
Control Scheme ◽  
And Control

Conventional time domain passivity control inevitably embodies division. Zero division can occur under a tiny force or velocity, which may be inevitable, and will be the cause of control crash. To avoid the zero division problem and control crash, we propose a switching dissipation controller for guaranteed stability. The parametric design of the proposed approach is discussed. The switching time domain passivity control is then applied to teleoperation and safe operation is achieved. Simulation and experimental results are demonstrated to validate the effectiveness of the proposed control scheme.

scholarly journals A Novel Design of Electro-Hydraulic Driven Active Powered Ankle-Foot Prosthesis

2021 ◽  
Author(s):  
Qitao Huang ◽  
Bowen Li ◽  
Fei Jia
Keyword(s):  
Hydraulic Cylinder ◽  
Gait Pattern ◽  
Gear Pump ◽  
Full Time ◽  
Brushless Dc ◽  
Finite State ◽  
In Series ◽  
Gait Phase ◽  
And Control ◽  
Novel Design

Abstract This paper presents the design and control of a novel full active powered ankle prosthesis driven by electro-hydrostatic actuator (EHA) to improve amputee gait during the level-ground walking in full-time gait cycle. A 100W brushless DC motor driving a 0.92 cc/rev bi-directional gear pump serves as the power kernel. An elastic element is configured in series with the hydraulic cylinder. With this architecture, better power characteristic, ability of energy storage and passive compliance are obtained to revive sound human characteristic as much as possible. To smooth the gait pattern, a neuromuscular model with Hill-type muscle tendon structure is introduced into the control system scheduled by finite state machine which was designed to carry on different control strategy during individual gait phase.

Active Noise Control in a Y-Shaped Duct: Simulation and Experimental Results

1998 ◽  
Vol 5 (1) ◽  
pp. 17-25
Author(s):  
Ronaldo Fernandes Nunes ◽  
José Roberto De França Arruda ◽  
José Maria Campos Dos Santos
Keyword(s):  
Noise Control ◽  
Reference Signal ◽  
Active Noise Control ◽  
Experimental Results ◽  
Step Size ◽  
Active Noise ◽  
Control Scheme ◽  
Perturbation Source ◽  
The Time Domain ◽  
And Control

There are different approaches to active noise control (ANC). The time domain Filtered-X LMS adaptive control scheme is currently used in most applications. The purpose of this paper is to describe an experiment consisting of a Y-shaped duct with two loudspeakers attached to the two branches of the Y duct. One of the loudspeakers acts as the perturbation source and the other acts as the control source. Tonal noise control is investigated, and control implementation issues such as number of filter weights, value of step-size parameter, and sampling frequency are discussed. The reference signal is taken from the signal sent to the perturbation loudspeaker and the error signal is taken from a microphone that can be placed anywhere along the stem of the Y-shaped duct. Simulations and experimental results are presented. The setup is simple and may be easily implemented for leaching purposes.

Map-Based Navigation of a Mobile Robot Using MRPT Modules

2014 ◽  
Vol 574 ◽  
pp. 505-510
Author(s):  
Kiattisin Kanjanawanishkul
Keyword(s):  
Mobile Robot ◽  
Modular Design ◽  
Experimental Results ◽  
Navigation Task ◽  
Software Modules ◽  
Sensor Information ◽  
Heterogeneous Hardware ◽  
Integration Problems ◽  
And Control

The aim of this work is to achieve a navigation task for the ED-7273 mobile robot consisting of heterogeneous hardware components. These components are controlled by software modules developed by different manufactures and they use different communication mechanisms. Software modules are also required to process sensor information and control actuators for performing useful tasks. Although modular design has several advantages, it raises some integration problems, such as interconnection, communication, and configuration. These problems can be solved by using middleware. Thus, we integrate the navigation module of MRPT middleware with our Robot APIs in this work, while the long term goal is to develop customized middleware for educational and research robots. As seen in the experimental results, our map-based navigation can be carried out successfully.

Development of a Robot Balanced on a Ball - First Report, Implementation of the Robot and Basic Control -

2010 ◽  
Vol 22 (3) ◽  
pp. 348-355 ◽  
Author(s):  
Masaaki Kumagai ◽  
◽  
Takaya Ochiai ◽  
Keyword(s):  
Inverted Pendulum ◽  
Control Method ◽  
Vertical Axis ◽  
Experimental Results ◽  
Control Input ◽  
First Report ◽  
Control Scheme ◽  
Inertia Parameters ◽  
And Control ◽  
Omnidirectional Wheels

This paper proposes the implementation and control scheme of a robot balanced on a ball. Unlike a twowheeled inverted pendulum, such as the Segway Human Transporter, an inverted pendulum using a ball moves in any direction without changing orientation, enabling isotropic movement and stabilization. The robot on the ball can be used in place of the twowheeled robots. Our robot has three omnidirectional wheels with stepping motors that drive the ball and two sets of rate gyroscopes and accelerometers as attitude sensors. It can keep station, traverse in any direction, and turn around its vertical axis. Inverted pendulum control is applied to two axes to maintain attitude. Ball acceleration is used as control input of the system, unlike most of inverted pendulums which use torque or force as input. This acceleration input makes the robot robust against change of inertia parameters, as confirmed by Nyquist diagrams. The mechanism of the robot, the control method, and the experimental results are described in this paper.

Trajectory Generation and Control of a Mobile Robot in the Environment of Obstacles

2017 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Mobile Robot ◽  
Motion Control ◽  
Control Method ◽  
Trajectory Generation ◽  
Nonholonomic Constraints ◽  
Frequency Measurement ◽  
Design Tool ◽  
Control Scheme ◽  
And Control ◽  
Multiple Obstacles

This paper proposes a path-planning control scheme for a mobile robot navigating through multiple obstacles. The proposed control consists of a trajectory generation scheme and a motion control scheme. The trajectory generation scheme computes the translational and rotational reference velocities in real time that drive the robot to a given goal position while avoiding multiple obstacles. The trajectory generation scheme is insensitive to high-frequency measurement noises. The motion control scheme computes the driving force and rotational torque required for the robot to track the reference velocities. The nonholonomic constraints of the mobile robot are used in the design of the kinematic trajectory generation scheme, where a repulsive potential function is used for obstacle avoidance. The dynamic model of the robot is used in the design of the motion control scheme. In the control design, the Lyapunov stability theorem is used as a mathematical design tool. Under certain conditions, the proposed control guarantees asymptotic stability while keeping all internal signals bounded. The effectiveness of the proposed control method has been shown with realistic computer simulations.

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