Feasibility Study of a Platform Type of Robotic Manipulators from a Kinematic Viewpoint

1984 ◽  
Vol 106 (2) ◽  
pp. 191-198 ◽  
Author(s):  
D. C. H. Yang ◽  
T. W. Lee
Keyword(s):  
Feasibility Study ◽  
Theoretical Investigation ◽  
Matrix Method ◽  
Closed Loop ◽  
Kinematic Chain ◽  
Robotic Manipulators ◽  
Design Parameters ◽  
Inverse Control ◽  
Displacement Analysis ◽  
Number Synthesis

This paper presents a theoretical investigation on the feasibility of using a platform mechanism as a robotic manipulator. The existence of this type of closed-loop kinematic chain is first investigated via a kinematic number synthesis. A displacement analysis then follows, which gives inverse control equations in terms of motion and design parameters, using the [4 × 4] matrix method. Basic kinematic characteristics and limitations, such as the extreme ranges of motion and rotatability as well as workspace are investigated.

Feasibility Study of Designing a Three Legged Walking Robot: Tribot

1991 ◽  
Author(s):  
Yueh-Jaw Lin ◽  
Aaron Tegland
Keyword(s):  
Feasibility Study ◽  
Legged Robots ◽  
Walking Robots ◽  
Design Parameters ◽  
Optimized Design ◽  
Motion Simulation ◽  
Walking Robot ◽  
Design Considerations ◽  
Simulation Based ◽  
Weight Distributions

Abstract In recent years, walking robot research has become an important robotic research topic because walking robots possess mobility, as oppose to stationary robots. However, current walking robot research has only concentrated on even numbered legged robots. Walking robots with odd numbered legs are still lack of attention. This paper presents the study on an odd numbered legged (three-legged) walking robot — Tribot. The feasibility of three-legged walking is first investigated using computer simulation based on a scaled down tribot model. The computer display of motion simulation shows that a walking robot with three legs is feasible with a periodic gait. During the course of the feasibility study, the general design of the three-legged robot is also analyzed for various weights, weight distributions, and link lengths. In addition, the optimized design parameters and limitations are found for certain knee arrangements. These design considerations and feasibility study using computer display can serve as a general guideline for designing odd numbered legged robots.

Feasibility Study of Upgrading Primary Feeders From Radial and Open-Loop to Normally Closed-Loop Arrangement

2004 ◽  
Vol 19 (3) ◽  
pp. 1308-1316 ◽  
Author(s):  
T.-H. Chen ◽  
W.-T. Huang ◽  
J.-C. Gu ◽  
G.-C. Pu ◽  
Y.-F. Hsu ◽  
...  
Keyword(s):  
Feasibility Study ◽  
Closed Loop ◽  
Open Loop

scholarly journals Model-Based Reinforcement Learning for Closed-Loop Dynamic Control of Soft Robotic Manipulators

2019 ◽  
Vol 35 (1) ◽  
pp. 124-134 ◽  
Author(s):  
Thomas George Thuruthel ◽  
Egidio Falotico ◽  
Federico Renda ◽  
Cecilia Laschi
Keyword(s):  
Reinforcement Learning ◽  
Closed Loop ◽  
Dynamic Control ◽  
Robotic Manipulators ◽  
Model Based

Displacement Analysis of the 3SPS-3CCS Mechanism Based on Hyper-Chaotic Damp Least Square Method

2011 ◽  
Vol 55-57 ◽  
pp. 2092-2098
Author(s):  
You Xin Luo ◽  
Qi Yuan Liu ◽  
Xiao Yi Che ◽  
Bin Zeng
Keyword(s):  
Mathematical Model ◽  
Real Number ◽  
Matrix Method ◽  
Parallel Mechanism ◽  
Least Square Method ◽  
Least Square ◽  
Forward Displacement ◽  
Displacement Analysis ◽  
Chaotic Sequences ◽  
Chaos System

The forward displacement analysis of parallel mechanism is attributed to find the solutions of complicated nonlinear equations and it is a very difficult process. Taking chaotic sequences as the initial values of the damp least square method, we can find all the solutions of equations quickly. Making use of existing chaos system and discovering new chaos system to generate chaotic sequences with good properties is the key to the damp least square method based on Chaos sequences. Based on utilizing hyper-chaotic Hénon mapping to obtain initial points, a new method of finding all real number solutions of the nonlinear questions is proposed. Using cosine matrix method, the author established the mathematical model of forward displacement for the generalized 3SPS-3CCS parallel robot mechanism and a numerical example is given. Compared to the quaternion method building mathematical model, the result shows cosine matrix method building mathematical model and hyper-chaotic damp least square method to find solution is brief and high calculation efficiency as the calculation is done in real number range. The proposed method has universality which can be used in forward displacement of other parallel mechanism.

LPV-Based-Method Aiming at a Win-Win Situation for Analytical Control Theories and Intelligent Optimization Methodologies

2009 ◽  
Author(s):  
Kazuhiko Hiramoto
Keyword(s):  
Control Strategy ◽  
Closed Loop ◽  
Control Method ◽  
Control Object ◽  
Gain Scheduling ◽  
Design Parameters ◽  
Analytical Control ◽  
Time Varying ◽  
Intelligent Optimization ◽  
Gain Scheduling Control

A new collaborative control strategy between time varying design parameters in LPV plants and the feedback controllers is proposed in the present paper. As the feedback control law the gain scheduling control scheme is adopted to guarantee the closed-loop L2 gain performance against the variation of the time varying parameter in the control object. The gain-scheduling controller can be obtained in an analytical manner by solving LMIs. For the closed-loop system with the LPV plant and the gain scheduling controller Genetic algorithm (GA), known as a so-called intelligent optimization method, is applied to optimize the closed-loop response. The proposed control system has a complementary structure between the LMI-based analytical control strategy and the flexible intelligent control method that does not impair their advantages each other. In this sense a win-win situation for the LMI-based gain scheduling control and the GA-based intelligent optimization is realized in the proposed approach. A simple simulation example is presented to show the effectiveness of the proposed method.

Feasibility Study of a Hybrid Closed-Loop System with Automated Insulin Correction Boluses

2020 ◽  
Author(s):  
Revital Nimri ◽  
Benyamin Grosman ◽  
Anirban Roy ◽  
Judith Nir ◽  
Naama Fisch Shvalb ◽  
...  
Keyword(s):  
Feasibility Study ◽  
Closed Loop ◽  
Loop System ◽  
Closed Loop System

scholarly journals Study on automatic deduction method of overall transfer equation for tree systems as well as closed-loop-and-branch-mixed systems

2018 ◽  
Vol 10 (7) ◽  
pp. 168781401878875
Author(s):  
Lu Sun ◽  
Guoping Wang ◽  
Xiaoting Rui ◽  
Xue Rui
Keyword(s):  
System Dynamics ◽  
Transfer Matrix ◽  
Transfer Matrix Method ◽  
Transfer Equation ◽  
Matrix Method ◽  
Closed Loop ◽  
Multibody System ◽  
Mixed System ◽  
Global Dynamics ◽  
Mixed Systems

The transfer matrix method for multibody systems has been developed for 20 years and improved constantly. The new version of transfer matrix method for multibody system and the automatic deduction method of overall transfer equation presented in recent years make it more convenient of the method for engineering application. In this article, by first defining branch subsystem, any complex multibody system may be regarded as the assembling of branch subsystems and simple chain subsystems. If there are closed loops in the system, the loops should be “cut off,” thus a pair of “new boundaries” are generated at each “cutting-off” point. The relationship between the state vectors of the pair of “new boundaries” may be described by a supplement equation. Based on above work, the automatic deduction method of overall transfer equation for tree systems as well as closed-loop-and-branch-mixed systems is formed. The results of numerical examples obtained by the automatic deduction method and ADAMS software for tree system dynamics as well as mixed system dynamics have good agreements, which validate the features of proposed method such as high computational speed, more effective for complex systems, no need of the system global dynamics equation, highly programmable, as well as convenient popularization and application in engineering.

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