Dynamic Control of Curve-Constrained Hyper-Redundant Manipulators

2004 ◽  
Vol 16 (1) ◽  
pp. 1-7 ◽  
Author(s):  
Shugen Ma ◽  
◽  
Mitsuru Watanabe ◽  
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Control ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Real Time Control ◽  
Feed Forward ◽  
Manipulator Dynamics ◽  
Time Control ◽  
Control Scheme ◽  
Feed Forward Controller

Hyper-redundant manipulators have high number of kinematic degrees of freedom, and possess unconventional features such as the ability to enter narrow spaces while avoiding obstacles. To control these hyper-redundant manipulators accurately, manipulator dynamics should be considered. This is, however, time-comsuming and makes implementation of real-time control difficult. In this paper, we propose a dynamic control scheme for hyper-redundant manipulators, which is based on analysis in defined posture space where three parameters were used to determine the manipulator posture. Manipulator dynamics are modeled on the parameterized form with the parameter of the posture space path. The posture space path-tracking feed-forward controller is then formulated on the basis of a parameterized dynamic equation. Computer simulation, in which a hyper-redundant manipulator traces the posture space path well by using the proposed feed-forward controller, proved that the hyper-redundant manipulator tracks the workspace path accurately.

Design of the three-bus control system utilising periodic relay for a centipede-like robot

Robotica ◽  
2014 ◽  
Vol 34 (8) ◽  
pp. 1841-1854 ◽  
Author(s):  
Tianqi Wei ◽  
Qingsheng Luo ◽  
Yang Mo ◽  
Yong Wang ◽  
Zhineng Cheng
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Real Time Control ◽  
Gait Control ◽  
Relay Control ◽  
Body Segments ◽  
Time Control ◽  
Movement Characteristics ◽  
Control Scheme ◽  
Similar Body

SUMMARYA centipede-like robot, which has high degrees of freedom (DOFs) and similar body segments, requires new real-time control to achieve diverse gaits. Therefore, we have studied the movement characteristics of multi-legged creatures and determined the features for a gait periodic relay. An instruction-relay control scheme, the three-bus control system and the required software were then designed. In our experiments with the designed control system, different gaits for the robot could be achieved, and the phase difference between body segments could be changed by altering the delay time. As a whole, this control system could accomplish the required control task and reasonably simplify the gait control algorithms and procedures.

Research on Fuzzy Control of Mine Ventilation Based on Embedded Systems

2014 ◽  
Vol 686 ◽  
pp. 126-131
Author(s):  
Xiao Yan Sha
Keyword(s):  
Fuzzy Control ◽  
Control Algorithm ◽  
Fuzzy Controller ◽  
Simulation Analysis ◽  
Control Unit ◽  
Real Time Control ◽  
Embedded Processor ◽  
Feed Forward ◽  
Time Control ◽  
Software And Hardware

Taking embedded processor as the core control unit, the paper designs the fan monitoring system software and hardware to achieve the fan working condition detection and real-time control. For the control algorithm, the paper analyzes the fuzzy control system theory and composition, and then combined with tunnel ventilation particularity, introduce feed-forward model to predict the incremental acquisition of pollutants to reduce lag, combined with the system feedback value and the set value, by calculate of two independent computing fuzzy controller, and ultimately determine the number of units increase or decrease in the tunnel jet fans start and stop. Through simulation analysis, the introduction of a feed-forward signal, it can more effectively improve the capability of the system impact of interference.

Optimal Configurations for Flexible Redundant Robot Manipulators

1998 ◽  
Author(s):  
Yue Shigang
Keyword(s):  
Real Time ◽  
Robot Manipulators ◽  
Computer Time ◽  
Planning Method ◽  
Initial Configuration ◽  
Redundant Manipulator ◽  
Real Time Control ◽  
Redundant Robot ◽  
Time Control ◽  
Optimal Configurations

Abstract The significant effect of initial configurations of flexible redundant robot manipulators is analyzed in the paper. It is found that the endpoint vibrations of a flexible redundant manipulator are quite different while performing the same endpoint trajectory starting from different initial configurations. Thus an optimal initial configuration with lower vibrations is found based on analysis before the manipulator starts to move. Only small and acceptable vibrations can be stimulated if the flexible redundant manipulator starts to move from the optimal configuration. Lots of computer time can be saved compared with optimal joint planning method. The method can be used in real-time control.

Real Time, Near-Optimal Trajectory Planning of an Omni-Directional Vehicle

2001 ◽  
Author(s):  
Tamás Kalmár-Nagy ◽  
Pritam Ganguly ◽  
Raffaello D’Andrea
Keyword(s):  
Real Time ◽  
Optimal Trajectory ◽  
Degrees Of Freedom ◽  
Dynamic Environments ◽  
Real Time Control ◽  
Uncertain Environments ◽  
Time Control ◽  
Innovative Method ◽  
Optimal Trajectory Planning ◽  
Three Degrees Of Freedom

Abstract In this paper, we discuss an innovative method of generating near-optimal trajectories for a robot with omni-directional drive capabilities, taking into account the dynamics of the actuators and the system. The relaxation of optimality results in immense computational savings, critical in dynamic environments. In particular, a decoupling strategy for each of the three degrees of freedom of the vehicle is presented, along with a method for coordinating the degrees of freedom. A nearly optimal trajectory for the vehicle can typically be calculated in less than 1000 floating point operations, which makes it attractive for real-time control in dynamic and uncertain environments.

Theory of Temperature Dynamic Control in Arch Dams and its Application

2012 ◽  
Vol 594-597 ◽  
pp. 738-741 ◽  
Author(s):  
Yin Duan ◽  
Xing Hong Liu ◽  
Xiao Lin Chang
Keyword(s):  
Real Time ◽  
Temperature Control ◽  
Control Method ◽  
Dynamic Control ◽  
Arch Dam ◽  
Real Time Control ◽  
New Techniques ◽  
Time Dynamic ◽  
Arch Dams ◽  
Time Control

Main factors of the temperature control and crack prevention in arch dams are summarized. The Space-time Dynamic Control method in pipe cooling process and the Temperature Real-time Control and Decision Database System are introduced to help for temperature real-time control and rapid analysis. Successful application of these new techniques in the construction of Dagangshan arch dam indicates that the proposed method are of significant effectiveness on the temperature control and crack prevention, and have good application prospect in practical project.

scholarly journals Virtualization of Robotic Hands Using Mobile Devices †

Robotics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 81
Author(s):  
Santiago T. Puente ◽  
Lucía Más ◽  
Fernando Torres ◽  
and Francisco A. Candelas
Keyword(s):  
Degrees Of Freedom ◽  
Robotic Hand ◽  
Robot Hand ◽  
Real Time Control ◽  
Robotic Hands ◽  
Robot Operating System ◽  
Server Side ◽  
Time Control ◽  
Unity 3D ◽  
Real Robot

This article presents a multiplatform application for the tele-operation of a robot hand using virtualization in Unity 3D. This approach grants usability to users that need to control a robotic hand, allowing supervision in a collaborative way. This paper focuses on a user application designed for the 3D virtualization of a robotic hand and the tele-operation architecture. The designed system allows for the simulation of any robotic hand. It has been tested with the virtualization of the four-fingered Allegro Hand of SimLab with 16 degrees of freedom, and the Shadow hand with 24 degrees of freedom. The system allows for the control of the position of each finger by means of joint and Cartesian co-ordinates. All user control interfaces are designed using Unity 3D, such that a multiplatform philosophy is achieved. The server side allows the user application to connect to a ROS (Robot Operating System) server through a TCP/IP socket, to control a real hand or to share a simulation of it among several users. If a real robot hand is used, real-time control and feedback of all the joints of the hand is communicated to the set of users. Finally, the system has been tested with a set of users with satisfactory results.

scholarly journals The Dynamic Control of the Light Signalling Device in Real-Time

2019 ◽  
Vol 292 ◽  
pp. 03014
Author(s):  
Jan Mrazek ◽  
Lucia Duricova Mrazkova ◽  
Martin Hromada ◽  
Jana Reznickova
Keyword(s):  
Real Time ◽  
Traffic Control ◽  
Dynamic Control ◽  
Traffic Density ◽  
Light Signaling ◽  
Dynamic Traffic ◽  
Real Time Control ◽  
Real Time Traffic ◽  
Time Control ◽  
Control Dynamic

The article is focused on the issue of interval on a light signaling device. Light signaling devices operate on different systems by means of which they are controlled. The control problem is a very static setting that does not respond to real-time traffic. Important variables for dynamic real-time control are traffic density in a selected area along with average speed. These variables are interdependent and can be based on dynamic traffic control. Dynamic traffic control ensures smoother traffic through major turns. At the same time, the number of harmful CO2 emitted from the means of transport should be reduced to the air. When used in low operation, power consumption should be reduced.

scholarly journals Teleoperation Control Design with Virtual Force Feedback for the Cable-Driven Hyper-Redundant Continuum Manipulator

2020 ◽  
Vol 10 (22) ◽  
pp. 8031
Author(s):  
Long Qin ◽  
Fanghao Huang ◽  
Zheng Chen ◽  
Wei Song ◽  
Shiqiang Zhu
Keyword(s):  
Force Feedback ◽  
Inverse Kinematic ◽  
Real Time Control ◽  
Kinematics Model ◽  
Time Control ◽  
Virtual Force ◽  
Control Scheme ◽  
Continuum Manipulators ◽  
Transmission Structure ◽  
And Control

Hyper-redundant continuum manipulators present dexterous kinematic skills in complicated tasks and demonstrate promising potential in underground exploration, intra-cavity inspection, surgery, etc. However, the hyper-redundancy, which endows much dexterity and flexibility, brings a huge challenge to the kinematics solution and control of the continuum manipulators. Due to the pseudoinverse calculation of high-order Jacobian matrix or iteration, many inverse kinematic solution approaches of continuum manipulators are very time-consuming, which extremely limit their applicability in real-time control. Additionally, it is often difficult for the manipulators to perform the tasks well in complex scenarios due to lack of human intervention. Therefore, in this paper, a simplified kinematics model of a typical hyper-redundant manipulator is proposed based on its unique geometry relationships, where the mapping relationships between the actuators’ rotation and the end-effector’s position are derived through the analysis of its driving subsystem and motion subsystem, in particular the joint modules. To perform the tasks of manipulators with the help of operators, a teleoperation control scheme with modified wave transmission structure is designed to achieve the guaranteed stability and improved transparency, and the leader’s trajectory and generated force feedback are the transmitted signals in the communication channel. Specifically, a virtual force feedback generation algorithm is developed in the teleoperation control scheme via the processing tracking errors, which can improve the operators’ assistance and perception during the teleoperation process. The practical experiments with comparative wave variable structures in two different sets are implemented to verify the effectiveness of proposed kinematics model and control scheme.

Redundancy Parameterization for Flexible Motion Control

2010 ◽  
Author(s):  
B. Moore ◽  
E. Oztop
Keyword(s):  
Finite Number ◽  
Inverse Kinematics ◽  
Infinitely Many Solutions ◽  
Redundant Manipulators ◽  
Real Time Control ◽  
End Effector ◽  
Human Control ◽  
Time Control ◽  
Swivel Angle ◽  
Self Motion

Our overall research interest is in synthesizing human like reaching and grasping using anthropomorphic robot hand-arm systems, as well as understanding the principles underlying human control of these actions. When one needs to define the control and task requirements in the Cartesian space, the problem of inverse kinematics needs to be solved. For non-redundant manipulators, a desired end-effector position and orientation can be achieved by a finite number of solutions. For redundant manipulators however, there are in general infinitely many solutions where the cardinality of the solution set must be made finite by imposing certain constraints. In this paper, we consider the Mitsubishi PA10 manipulator which is similar to the human arm, in the sense that both wrist and shoulder joints can be considered to emulate a 3DOF ball joint. We explicitly derive the analytic solution for the inverse kinematics using quaternions. Then, we derive a parameterization in terms of a pure quaternion called the swivel quaternion. The swivel quaternion is similar to the elbow swivel angle used in most approaches, but avoid the computation of inverse trigonometric functions. This parameterization of the self-motion manifold is continuous with any end-effector motion. Given the pose of the end-effector and the swivel quaternion (or swivel angle), the algorithm derives all solution of the inverse kinematics (finite number). We then show how the parameterization of the elbow self-motion can be used for the real-time control of the PA10 manipulator in the presence of obstacles.

Control of a robot manipulator and pendubot system using artificial neural networks

Robotica ◽  
2005 ◽  
Vol 23 (6) ◽  
pp. 781-784 ◽  
Author(s):  
Joseph Constantin ◽  
Chaïban Nasr ◽  
Denis Hamad
Keyword(s):  
Neural Networks ◽  
Artificial Neural Networks ◽  
Robot Manipulator ◽  
Recursive Algorithm ◽  
Dynamic Control ◽  
Real Time Control ◽  
Time Control ◽  
The Neural Network ◽  
Artificial Neural ◽  
Pendubot System

The paper introduces artificial neural networks for the conventional control of robotic systems for better tracking performance. Different advanced dynamic control techniques are explained and a new second order recursive algorithm has been developed to tune the weights of the neural network. The problem of real-time control of a Pendubot system in difficult situations has been addressed. Examples, such as positioning and balancing structures, are presented and performances are compared to a conventional PD controller.

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