Modeling and Control of Multi-Units Robotic System: Boom Crane and Robotic Arm

2021 ◽  
Author(s):  
Michele Ambrosino ◽  
Philippe Delens ◽  
Emanuele Garone
Keyword(s):  
Robotic System ◽  
Robotic Arm ◽  
Modeling And Control ◽  
And Control ◽  
Boom Crane

scholarly journals Design, fabrication, modeling and control of a fabric-based spherical robotic arm

Mechatronics ◽  
2020 ◽  
Vol 68 ◽  
pp. 102369
Author(s):  
Matthias Hofer ◽  
Raffaello D’Andrea
Keyword(s):  
Robotic Arm ◽  
Modeling And Control ◽  
And Control

scholarly journals Three-Dimensional Modeling and Control of a Tethered UAV-Buoy System

2021 ◽  
Author(s):  
Ahmad Kourani ◽  
Naseem Daher
Keyword(s):  
Control System ◽  
Three Dimensional ◽  
Vertical Motion ◽  
Robotic System ◽  
Three Dimensions ◽  
Spherical Coordinate ◽  
Nonlinear Dynamical ◽  
Modeling And Control ◽  
Three Dimensional Modeling ◽  
And Control

Abstract This work presents the nonlinear dynamical model and motion controller of a system consisting of an unmanned aerial vehicle (UAV) that is tethered to a floating buoy in the three-dimensional (3D) space. Detailed models of the UAV, buoy, and the coupled tethered system dynamics are presented in a marine environment that includes surface-water currents and oscillating gravity waves, in addition to wind gusts. This work extends the previously modeled planar (vertical) motion of this novel robotic system to allow its free motion in all three dimensions. Furthermore, a Directional Surge Velocity Control System (DSVCS) is hereby proposed to allow both the free movement of the UAV around the buoy when the cable is slack, and the manipulation of the buoy’s surge velocity when the cable is taut. Using a spherical coordinate system centered at the buoy, the control system commands the UAV to apply forces on the buoy at specific azimuth and elevation angles via the tether, which yields a more appropriate realization of the control problem as compared to the Cartesian coordinates where the traditional x- , y- , and z -coordinates do not intuitively describe the tether’s tension and orientation. The proposed robotic system and controller offer a new method of interaction and collaboration between UAVs and marine systems from a locomotion perspective. The system is validated in a virtual high-fidelity simulation environment, which was specifically developed for this purpose, while considering various settings and wave scenarios.

scholarly journals Modeling and Control of 5-DoF Boom Crane

2020 ◽  
Author(s):  
Michele Ambrosino ◽  
Marc Berneman ◽  
Gianluca Carbone ◽  
Rémi Crépin ◽  
Arnaud Dawans ◽  
...  
Keyword(s):  
Modeling And Control ◽  
And Control ◽  
Boom Crane

Modelling and Control of a Mobile Robot, Equipped with an Arm in Cylindrical Coordinates with Uncoupled Tentacular Terminal

2016 ◽  
Vol 822 ◽  
pp. 311-320
Author(s):  
Viorel Stoian ◽  
Sorin Dumitru
Keyword(s):  
Dynamic Models ◽  
Robotic System ◽  
Mobile Platform ◽  
Robotic Arm ◽  
Target Point ◽  
Cylindrical Coordinates ◽  
Lagrange Method ◽  
End Effector ◽  
Kinematic Models ◽  
And Control

In this paper a robotic system which consists in a mobile platform with wheels and a robotic arm that operates in cylindrical coordinates which are located on, having a tentacular end-effector that executes specific grasping operations is presented. The robotic system executes: the displacement in the operation field, towards a target point that has been priori established, positioning the arm in order to perform the specified task, and the end-effector task according to a tentacular model. Kinematic models are made by Denavit – Hartenberg method and dynamic models by Lagrange method. Finally, is proposed a control system with uncoupled components.Keywords: mobile platform, tentacular structure, observer.

Evaluation of Brain Models to Control a Robotic Origami Arm Using Holographic Neural Networks

2015 ◽  
Author(s):  
J. A. Romero ◽  
L. A. Diago ◽  
J. Shinoda ◽  
I. Hagiwara
Keyword(s):  
Back Propagation ◽  
Motor Command ◽  
Control Model ◽  
Robotic Arm ◽  
Training Methods ◽  
Holographic Method ◽  
Modeling And Control ◽  
Paper Folding ◽  
Fast Movement ◽  
And Control

In robotics, one of the most difficult task is to perform a precisely and fast movement of a robotic arm. For paper-folding robots, it is still extremely difficult to execute the required manipulations of the paper mainly because the difficulties in modeling and control of the paper. In this paper two control models are proposed to solve this problem. One of the best approaches comes from Neuroscience, where using a human’s brain inspired control system known as Cerebellar control model (CCM), precisely and fast movements of a robotic arm can be performed. In the CCM a Feedback controller motor command is used as a target signal to train an Artificial Neural Network (NN), and use the output of the NN as a Feed-forward signal. In this paper two training methods were evaluated in order to improve the behavior in CCM: the traditional Back propagation and a Holographic method.

scholarly journals Design and Control of an Inflatable Spherical Robotic Arm for Pick and Place Applications

Actuators ◽  
2021 ◽  
Vol 10 (11) ◽  
pp. 299
Author(s):  
Matthias Hofer ◽  
Jasan Zughaibi ◽  
Raffaello D’Andrea
Keyword(s):  
Lightweight Design ◽  
Joint Stiffness ◽  
Robotic Arm ◽  
Robot Arm ◽  
Allocation Strategy ◽  
Modeling And Control ◽  
Control Approach ◽  
Flow Capacity ◽  
Payload Mass ◽  
And Control

We present an inflatable soft robotic arm made of fabric that leverages state-of-the-art manufacturing techniques, leading to a robust and reliable manipulator. Three bellow-type actuators are used to control two rotational degrees of freedom, as well as the joint stiffness that is coupled to a longitudinal elongation of the movable link used to grasp objects. The design is motivated by a safety analysis based on first principles. It shows that the interaction forces during an unexpected collision are primarily caused by the attached payload mass, but can be reduced by a lightweight design of the robot arm. A control allocation strategy is employed that simplifies the modeling and control of the robot arm and we show that a particular property of the allocation strategy ensures equal usage of the actuators and valves. The modeling and control approach systematically incorporates the effect of changing joint stiffness and the presence of a payload mass. An investigation of the valve flow capacity reveals that a proper timescale separation between the pressure and arm dynamics is only given for sufficient flow capacity. Otherwise, the applied cascaded control approach can introduce oscillatory behavior, degrading the overall control performance. A closed form feed forward strategy is derived that compensates errors induced by the longitudinal elongation of the movable link and allows the realization of different object manipulation applications. In one of the applications, the robot arm hands an object over to a human, emphasizing the safety aspect of the soft robotic system. Thereby, the intrinsic compliance of the robot arm is leveraged to detect the time when the robot should release the object.

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