scholarly journals Muscle Coordination Control for an Asymmetrically Antagonistic-Driven Musculoskeletal Robot Using Attractor Selection

2018 ◽  
Vol 2018 ◽  
pp. 1-10
Author(s):  
Shoichiro Ide ◽  
Atsushi Nishikawa
Keyword(s):  
Position Control ◽  
Control Method ◽  
Control Model ◽  
Muscle Coordination ◽  
Human Beings ◽  
Coordination Control ◽  
Living Things ◽  
Antagonistic Muscle ◽  
Musculoskeletal Robot ◽  
Attractor Selection

Recently, numerous musculoskeletal robots have been developed to realize the flexibility and dexterity analogous to human beings and animals. However, because the arrangement of many actuators is complex, the design of the control system for the robot is difficult and challenging. We believe that control methods inspired by living things are important in the development of the control systems for musculoskeletal robots. In this study, we propose a muscle coordination control method using attractor selection, a biologically inspired search method, for an antagonistic-driven musculoskeletal robot in which various muscles (monoarticular muscles and a polyarticular muscle) are arranged asymmetrically. First, muscle coordination control models for the musculoskeletal robot are built using virtual antagonistic muscle structures with a virtually symmetric muscle arrangement. Next, the attractor selection is applied to the control model and subsequently applied to the previous control model without muscle coordination to compare the control model’s performance. Finally, position control experiments are conducted, and the effectiveness of the proposed muscle coordination control and the virtual antagonistic muscle structure is evaluated.

Time-Optimal Coordination Control for the Gear-Shifting Process in Electric-Driven Mechanical Transmission (Dog Clutch) without Impacts

2020 ◽  
Vol 9 (2) ◽  
pp. 155-168
Author(s):  
Ziwang Lu ◽  
◽  
Guangyu Tian ◽  
Keyword(s):  
Control Strategy ◽  
Position Control ◽  
Control Method ◽  
Synchronization Control ◽  
Mechanical Transmission ◽  
Coordination Control ◽  
Optimal Position ◽  
Drive Motor ◽  
Time Optimal ◽  
Optimal Coordination

Torque interruption and shift jerk are the two main issues that occur during the gear-shifting process of electric-driven mechanical transmission. Herein, a time-optimal coordination control strategy between the the drive motor and the shift motor is proposed to eliminate the impacts between the sleeve and the gear ring. To determine the optimal control law, first, a gear-shifting dynamic model is constructed to capture the drive motor and shift motor dynamics. Next, the time-optimal dual synchronization control for the drive motor and the time-optimal position control for the shift motor are designed. Moreover, a switched control for the shift motor between a bang-off-bang control and a receding horizon control (RHC) law is derived to match the time-optimal dual synchronization control strategy of the drive motor. Finally, two case studies are conducted to validate the bang-off-bang control and RHC. In addition, the method to obtain the appropriate parameters of the drive motor and shift motor is analyzed according to the coordination control method.

Peg-in-hole assembly based on master-slave coordination for a compliant dual-arm robot

2020 ◽  
Vol 40 (2) ◽  
pp. 189-198
Author(s):  
Yanjiang Huang ◽  
Yanglong Zheng ◽  
Nianfeng Wang ◽  
Jun Ota ◽  
Xianmin Zhang
Keyword(s):  
Design Methodology ◽  
Position Control ◽  
Control Model ◽  
Torque Control ◽  
Human Beings ◽  
Content Type ◽  
Different Shapes ◽  
Dual Arm Robot ◽  
Assembly Tasks ◽  
Dual Arm

Purpose The paper aims to propose an assembly scheme based on master–slave coordination for a compliant dual-arm robot to complete a peg-in-hole assembly task. Design/methodology/approach The proposed assembly scheme is inspired by the coordinated behaviors of human beings in the assembly process. The left arm and right arm of the robot are controlled to move alternately. The fixed arm and the moving arm are distinguished as the slave arm and the master arm, respectively. The position control model is used at the uncontacted stage, and the torque control model is used at the contacted stage. Findings The proposed assembly scheme is evaluated through peg-in-hole assembly experiments with different shapes of assembly piece. The round, triangle and square assembly piece with 0.5 mm maximum clearance between the peg and the hole can be assembled successfully based on the proposed method. Furthermore, three assembly strategies are investigated and compared in the peg-in-hole assembly experiments with different shapes of assembly piece. Originality/value The contribution of this study is that the authors propose an assembly scheme for a compliant dual-arm robot to overcome the low positioning accuracy and complete the peg-in-hole assembly tasks with different shapes parts.

scholarly journals Backstepping Sliding-Mode Control of Piezoelectric Single-Piston Pump-Controlled Actuator

Actuators ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 154
Author(s):  
Bin Wang ◽  
Pengda Ren ◽  
Xinhao Huang
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Piezoelectric Pump ◽  
Mode Control ◽  
Control Precision ◽  
Backstepping Sliding Mode Control ◽  
Actuator System ◽  
The Mathematical Model

A piston piezoelectric (PZT) pump has many advantages for the use of light actuators. How to deal with the contradiction between the intermittent oil supplying and position control precision is essential when designing the controller. In order to accurately control the output of the actuator, a backstepping sliding-mode control method based on the Lyapunov function is introduced, and the controller is designed on the basis of establishing the mathematical model of the system. The simulation results show that, compared with fuzzy PID and ordinary sliding-mode control, backstepping sliding-mode control has a stronger anti-jamming ability and tracking performance, and improves the control accuracy and stability of the piezoelectric pump-controlled actuator system.

Register control of roll-to-roll gravure-offset printing equipment considering time difference between measurement and actuation

2012 ◽  
Vol 226 (11) ◽  
pp. 2726-2738 ◽  
Author(s):  
Chung Hwan Kim ◽  
Ha-Il You ◽  
Seung-Hyun Lee
Keyword(s):  
Measurement System ◽  
Position Control ◽  
Printed Electronics ◽  
Control Method ◽  
Axial Direction ◽  
Time Difference ◽  
Offset Printing ◽  
Drying Time ◽  
Roll To Roll ◽  
The Web

The manufacture of printed electronics by roll-to-roll printing machine requires more accurate register performance than conventional media printing technology. Moreover, high drying temperature and long drying time to sinter the inks can induce the substantial changes in the length of the substrate and consequently register errors. Among the roll-to-roll printing methods, the gravure one, despite its relatively fast productivity and fine-line printing capacity, has difficulty in achieving the required register specifications for printed electronics because of the dependence of the register control on web dynamics. This study proposes a roll-to-roll gravure-offset printing equipment, including the register measurement system designed to enhance register performance and the related register control method for the application of printed electronics. Each cylinder constituting the printing unit is driven independently by an individual servomotor. Moreover, the printing patterns of the plate cylinder can move in the axial direction by position control, as well as in the web transport direction by a phase shift of the plate cylinder, without affecting the dynamics of the web. The time difference between the measurement and the actual control action is considered and modeled. The register measurement system, including selections of sensors and marks is also proposed to consider the effect of the time difference. The simulation results and the experiments of the register control are shown to verify the effect of the time difference on the control performances. It is found that a proper estimation of time difference should be obtained in order to guarantee more accurate and stable control performances.

The Lower Extremity Exoskeleton Coordinated Control Method Based on Human Electromechanical Coupling

2012 ◽  
Vol 220-223 ◽  
pp. 1012-1017
Author(s):  
Qing Guo ◽  
Dan Jiang
Keyword(s):  
Lower Extremity ◽  
Electromechanical Coupling ◽  
Position Control ◽  
Control Method ◽  
Angular Displacement ◽  
Stability Margin ◽  
Hydraulic Cylinder ◽  
Load Force ◽  
Hydraulic Cylinders ◽  
Coupling Characteristics

This paper has introduced electromechanical coupling characteristics in the lower extremity exoskeleton systems, considered model ,according to legs supporting gait when people walking, established the load torque compensation model , and a mathematical model of knee position control system which is made of the servo valve, hydraulic cylinders and other hydraulic components, designed hydraulic cylinder position control loop in case of existing load force interference compensation, and used the method of combining the PID and lead correction network for frequency domain design ,ensured system to meet a certain stability margin. The simulation results show that this position control method can servo on the knee angular displacement of normal human walking, reached a certain exoskeleton boost effect, at the same time, met the needs of human-machine coordinated motion.

Air Suspension Optimal Control Based on the Genetic Algorithm

2011 ◽  
Vol 467-469 ◽  
pp. 1066-1071
Author(s):  
Zhong Xin Li ◽  
Ji Wei Guo ◽  
Ming Hong Gao ◽  
Hong Jiang
Keyword(s):  
Genetic Algorithm ◽  
Optimal Control ◽  
Dynamic Model ◽  
Control Method ◽  
Control Model ◽  
Weight Matrix ◽  
Object A ◽  
Full Vehicle ◽  
Air Suspension ◽  
Optimal Control Method

Taking the full-vehicle eight-freedom dynamic model of a type of bus as the simulation object , a new optimal control method is introduced. This method is based on the genetic algorithm, and the full-vehicle optimal control model is built in the MatLab. The weight matrix of the optimal control is optimized through the genetic algorithm; then the outcome is compared with the artificially-set optimal control simulation, which shows that the genetic-algorithm based optimal control presents better performance, thereby creating a smoother ride and improving the steering stability of the vehicle.

scholarly journals Modeling and control of a new robotic deburring system

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 229-237 ◽  
Author(s):  
Jae H. Chung ◽  
Changhoon Kim
Keyword(s):  
Comparative Study ◽  
Decentralized Control ◽  
Control Method ◽  
Robotic Manipulator ◽  
Coordination Control ◽  
Pneumatic Actuators ◽  
Modeling And Control ◽  
Control Approach ◽  
Simulation Results ◽  
And Control

This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method is developed by decomposing the robotic deburring system into two subsystems; the arm and the deburring tool. A decentralized control approach is pursued, in which suitable controllers were designed for the two subsystems in the coordination scheme. In simulation, three different tool configurations are considered: rigid, single pneumatic and integrated pneumatic tools. A comparative study is performed to investigate the deburring performance of the deburring arm with the different tools. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.

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