scholarly journals ANALYSIS OF HEXAPOD ROBOT LOCOMOTION

2010 ◽  
Vol 2 (1) ◽  
pp. 36-39 ◽  
Author(s):  
Tomas Luneckas
Keyword(s):  
Inverse Kinematics ◽  
Robot Control ◽  
Control Method ◽  
Servo Control ◽  
Control Methods ◽  
Control Parameters ◽  
Hexapod Robot ◽  
Robot Locomotion ◽  
Tripod Gait ◽  
And Control

Hexapod robot locomotion is analyzed. Trajectory forming method for one leg is introduced. Servo angles are expressed using geometric inverse kinematics method. Forming of tripod gait is described and a diagram representing it is presented. Servo control parameters are defined to ensure fluent and versatile robot control. Several servo control methods are presented. After testing robot movement using different servo control methods, gait generation is corrected and control method that meets servo control parameters is chosen.

scholarly journals CONTROL OF THE HEXAPOD WALKING ROBOT / ŠEŠIAKOJO ŽINGSNIUOJANČIO ROBOTO VALDYMAS

2013 ◽  
Vol 5 (2) ◽  
pp. 96-100
Author(s):  
Raimondas Zubavičius ◽  
Nerijus Paulauskas ◽  
Martynas Šapurov
Keyword(s):  
Inverse Kinematics ◽  
Servo Control ◽  
Movement Trajectory ◽  
Control Methods ◽  
Hexapod Robot ◽  
Walking Robot ◽  
Control Signals ◽  
Leg Movement ◽  
Robot Leg ◽  
Three Degree Of Freedom

The analysis focuses on control features of the hexapod walking robot with three degree-of-freedom legs. This paper describes different servo control methods and presents the developed algorithm for formation of servos control signals. The geometric inverse kinematics method was used to calculate the angles of each joint of a leg. The authors present the results of the experimental investigation on the hexapod robot leg movement trajectory. Article in Lithuanian. Santrauka Nagrinėjami šešiakojo žingsniuojančio roboto kojų, turinčių tris judrumo laipsnius, valdymo ypatumai. Aprašomi skirtingi valdomųjų mechanizmų valdymo būdai, pateikiamas sudarytas programos algoritmas valdomųjų mechanizmų valdymo signalams formuoti. Aprašyta, kaip randami atskirų roboto kojos dalių tarpusavio kampai taikant geometrinį atvirkštinės kinematikos metodą. Pateikiami šešiakojo žingsniuojančio roboto maketo tyrimo vienos kojos judėjimo erdvėje rezultatai.

scholarly journals Resonance Instability of Photovoltaic E-Bike Charging Stations: Control Parameters Analysis, Modeling and Experiment

2019 ◽  
Vol 9 (2) ◽  
pp. 252 ◽  
Author(s):  
Ziqian Zhang ◽  
Cihan Gercek ◽  
Herwig Renner ◽  
Angèle Reinders ◽  
Lothar Fickert
Keyword(s):  
Major Effect ◽  
Current Control ◽  
Current Loop ◽  
Control Methods ◽  
Control Parameters ◽  
Charging System ◽  
Grid Connected Inverter ◽  
The Time Domain ◽  
Charging Stations ◽  
And Control

This article presents an in-situ comparative analysis and power quality tests of a newly developed photovoltaic charging system for e-bikes. The various control methods of the inverter are modeled and a single-phase grid-connected inverter is tested under different conditions. Models are constituted for two current control methods; the proportional resonance and the synchronous rotating frames. In order to determine the influence of the control parameters, the system is analyzed analytically in the time domain as well as in the frequency domain by simulation. The tests indicated the resonance instability of the photovoltaic inverter. The passivity impedance-based stability criterion is applied in order to analyze the phenomenon of resonance instability. In conclusion, the phase-locked loop (PLL) bandwidth and control parameters of the current loop have a major effect on the output admittance of the inverter, which should be adjusted to make the system stable.

Modelling and control of manipulators with flexible links working on land and underwater environments

Robotica ◽  
2010 ◽  
Vol 29 (3) ◽  
pp. 461-470 ◽  
Author(s):  
Levent Gümüşel ◽  
Nurhan Gürsel Özmen
Keyword(s):  
Fuzzy Control ◽  
Control Method ◽  
Robot Manipulator ◽  
Control Methods ◽  
Control Laws ◽  
Linear Ordinary Differential Equations ◽  
Intelligent Technique ◽  
Wide Range ◽  
Classical Control ◽  
And Control

SUMMARYIn this study, modelling and control of a two-link robot manipulator whose first link is rigid and the second one is flexible is considered for both land and underwater conditions. Governing equations of the systems are derived from Hamilton's Principle and differential eigenvalue problem. A computer program is developed to solve non-linear ordinary differential equations defining the system dynamics by using Runge–Kutta algorithm. The response of the system is evaluated and compared by applying classical control methods; proportional control and proportional + derivative (PD) control and an intelligent technique; integral augmented fuzzy control method. Modelling of drag torques applied to the manipulators moving horizontally under the water is presented. The study confirmed the success of the proposed integral augmented fuzzy control laws as well as classical control methods to drive flexible robots in a wide range of working envelope without overshoot compared to the classical controls.

scholarly journals Inverse Kinematics of a New Quadruped Robot Control Method

10.5772/55299 ◽  
2013 ◽  
Vol 10 (1) ◽  
pp. 46 ◽  
Author(s):  
Cai RunBin ◽  
Chen YangZheng ◽  
Lang Lin ◽  
Wang Jian ◽  
Ma Hong Xu
Keyword(s):  
Inverse Kinematics ◽  
Robot Control ◽  
Control Method ◽  
Quadruped Robot

Bionic Methods for Quadruped Robot Design and Control

2013 ◽  
Vol 461 ◽  
pp. 869-876
Author(s):  
Run Bin Cai ◽  
Qing Wei ◽  
Hong Xu Ma
Keyword(s):  
Robot Control ◽  
Control Method ◽  
Step Length ◽  
Quadruped Robot ◽  
Control Architecture ◽  
German Shepherd ◽  
Trot Gait ◽  
Nerve System ◽  
And Control ◽  
Support Phase

Bionics has greatly improved the development of quadruped robot, in the paper we propose three bionic methods for the quadruped robot. These methods have been used for control method design, gait design and control architecture design. The quadruped robot control method has been divided into two parts, because the four-legged animals change their trot speed by adjustment of step length in swing phase and maintain their balance in support phase; control architecture is derived from the four-legged animals nerve system; gait of quadruped robot is based on event driven, and its trot gait is the same as German shepherd. Simulations and experiments are performed, which prove bionics design to be realizable for the quadruped robot.

Design and Modeling of Three Joint Mechanical Arm Based on the Free Floating Space Robot Project

2014 ◽  
Vol 621 ◽  
pp. 533-539
Author(s):  
Xi Zhang ◽  
Da Qi Wu
Keyword(s):  
Robot Control ◽  
Control Method ◽  
Space Exploration ◽  
Structure Design ◽  
Space Robot ◽  
Practical Significance ◽  
Main Research ◽  
Research Level ◽  
Exploration Mission ◽  
And Control

The frequence and complex of space exploration activeities makes the life of the spacecraft and on-orbit service technologies becoming research hotspot in recent years. But the limitation of non-renewable fuels makes exploration mission costly and maintenance difficult, so the free floating space robot has its unique advantages. Because the research level and control technology is not maturity, study on the free floating space robot control method is the key theory and technology which is the difficulty that our country now needs to overcome, also, the research is of great theoretical and practical significance. This paper introduct an experiment scara mechanical arm based on the free floating space robot project. Main research contents of this paper include the mechanical structure design, and combining with the characteristic of the free floating mechanical arm , it makes kinematics and dynamics modals of the mechanical arm system, additional, it conduct statics test and dynamic modal analysis, which is to make sure that the mechanical arm could satisfy needs and to study its dynamic characteristics.This topic focus on structure design and mathematical modeling of the mechanical arm, it makes the research of control method and trajectory planning no longer stay on the paper, and makes the research more authenticity and accuracy.

scholarly journals Vehicle yaw rate simulation and control based on single-track model

2021 ◽  
Vol 10 (1) ◽  
pp. 019-029
Author(s):  
Abdussalam Ali Ahmed ◽  
Faraj Ahmed Elzarook Barood ◽  
Munir S. Khalifa
Keyword(s):  
Control Method ◽  
Stability Control ◽  
Network Control ◽  
Control Analysis ◽  
Control Methods ◽  
Single Track ◽  
Linear Quadratic ◽  
Yaw Rate ◽  
Driving Conditions ◽  
And Control

When designing a vehicle, the most important variable that should be taken into account is the vehicle yaw rate, it represents an important indication of the vehicle’s stability and control. This paper aims to demonstrate how to simulate and control the yaw rate of a vehicle using two control methods, the first is the Linear Quadratic control method (LQR) and the other one is neural network control. The classical single-track model is prominently used for yaw stability control analysis. One driving conditions performed is the steering input; the steering input in this work is set as step steering angle and a lane change manoeuvre. Simulation results showed that both control methods used produced good and convergent performance results for the vehicle under different driving conditions.

Kinematics control of redundant manipulators using a CMAC neural network combined with a genetic algorithm

Robotica ◽  
2004 ◽  
Vol 22 (6) ◽  
pp. 611-621 ◽  
Author(s):  
Yangmin Li ◽  
Sio Hong Leong
Keyword(s):  
Neural Network ◽  
Genetic Algorithm ◽  
Control Systems ◽  
Inverse Kinematics ◽  
Robot Control ◽  
Control Problems ◽  
Redundant Manipulators ◽  
Cerebellar Model Articulation Controller ◽  
Cmac Neural Network ◽  
And Control

A method is proposed to solve the inverse kinematics and control problems of robot control systems using a cerebellar model articulation controller neural network combined with a genetic algorithm. Computer simulations and experiments with a 7-DOF redundant modular manipulator have demonstrated the effectiveness of the proposed method.

scholarly journals Controlling Neimark-Sacker Bifurcation in Delayed Species Model Using Feedback Controller

2016 ◽  
Vol 2016 ◽  
pp. 1-8 ◽  
Author(s):  
Jie Ran ◽  
Yanmin Liu ◽  
Jun He ◽  
Xiang Li
Keyword(s):  
Fixed Point ◽  
Feedback Control ◽  
Convergence Rate ◽  
Approximation Theory ◽  
Control Method ◽  
Control Methods ◽  
Control Parameters ◽  
Random Intensity ◽  
Feedback Control Method ◽  
The Stability

Based on the stability and orthogonal polynomial approximation theory, the ordinary, dislocated, enhancing, and random feedback control methods are used to suppress the Neimark-Sacker bifurcation to fixed point in this paper. It is shown that the convergence rate of enhancing feedback control and random feedback control can be faster than those of dislocated and ordinary feedback control. The random feedback control method, which does not require any adjustable control parameters of the model, just only slightly changes the random intensity. Finally, numerical simulations are presented to verify the effectiveness of the proposed controllers.

Dynamic Modeling and Control of the Hexapod Robot Using Matlab SimMechanics

2018 ◽  
Author(s):  
Sameh I. Beaber ◽  
Abdelrahman S. Zaghloul ◽  
Mohamed A. Kamel ◽  
Wessam M. Hussein
Keyword(s):  
Dynamic Modeling ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Modeling And Control ◽  
Robot Trajectory ◽  
Tripod Gait ◽  
Inverse Kinematic Analysis ◽  
And Control

This paper presents a detailed dynamic modeling of phantom ax12 six-legged robot using Matlab SimMechanics™. The direct and inverse kinematic analysis for each leg has been considered in order to develop an overall kinematic model of the robot. Trajectory of each leg is also considered for both swing and support phases when the robot walks with tripod gait in a straight path. Newton-Euler formulation has been utilized to determine the joint’s torque. These results were verified using SimMechanics™. Also, feet force distributions of the hexpaod are estimated via SimMechanics™, which is necessary for its control.

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