scholarly journals Design and Postures of a Serial Robot Composed by Closed-Loop Kinematics Chains

10.5772/33364 ◽  
2012 ◽  
Author(s):  
David Ubeda ◽  
Jose Maria ◽  
Arturo Gil ◽  
Oscar Reinoso
Keyword(s):  
Closed Loop ◽  
Serial Robot

scholarly journals Inertial Parameter Identification in Robotics: A Survey

2021 ◽  
Vol 11 (9) ◽  
pp. 4303
Author(s):  
Quentin Leboutet ◽  
Julien Roux ◽  
Alexandre Janot ◽  
Julio Rogelio Guadarrama-Olvera ◽  
Gordon Cheng
Keyword(s):  
Neural Network ◽  
Parameter Identification ◽  
Closed Loop ◽  
Dynamic Models ◽  
Robot Dynamics ◽  
Dynamic Identification ◽  
Inverse Dynamic ◽  
Inertial Parameter ◽  
Serial Robot ◽  
Identification Model

This work aims at reviewing, analyzing and comparing a range of state-of-the-art approaches to inertial parameter identification in the context of robotics. We introduce “BIRDy (Benchmark for Identification of Robot Dynamics)”, an open-source Matlab toolbox, allowing a systematic and formal performance assessment of the considered identification algorithms on either simulated or real serial robot manipulators. Seventeen of the most widely used approaches found in the scientific literature are implemented and compared to each other, namely: the Inverse Dynamic Identification Model with Ordinary, Weighted, Iteratively Reweighted and Total Least-Squares (IDIM-OLS, -WLS, -IRLS, -TLS); the Instrumental Variables method (IDIM-IV), the Maximum Likelihood (ML) method; the Direct and Inverse Dynamic Identification Model approach (DIDIM); the Closed-Loop Output Error (CLOE) method; the Closed-Loop Input Error (CLIE) method; the Direct Dynamic Identification Model with Nonlinear Kalman Filtering (DDIM-NKF), the Adaline Neural Network (AdaNN), the Hopfield-Tank Recurrent Neural Network (HTRNN) and eventually a set of Physically Consistent (PC-) methods allowing the enforcement of parameter physicality using Semi-Definite Programming, namely the PC-IDIM-OLS, -WLS, -IRLS, PC-IDIM-IV, and PC-DIDIM. BIRDy is robot-agnostic and features a complete inertial parameter identification pipeline, from the generation of symbolic kinematic and dynamic models to the identification process itself. This includes functionalities for excitation trajectory computation as well as the collection and pre-processing of experiment data. In this work, the proposed methods are first evaluated in simulation, following a Monte Carlo scheme on models of the 6-DoF TX40 and RV2SQ industrial manipulators, before being tested on the real robot platforms. The robustness, precision, computational efficiency and context of application the different methods are investigated and discussed.

scholarly journals n -th Order Sensor Output to Control k -DoF Serial Robot Arms

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Sergio Alvarez-Rodríguez ◽  
Francisco Gerardo Peña Lecona
Keyword(s):  
Pid Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Control Strategies ◽  
Variable Structure ◽  
Sensor Output ◽  
Loop Control ◽  
Robot Arms ◽  
Serial Robot ◽  
The Given

Currently, zero-order sensors are commonly used as positioning feedback for the closed-loop control in robotics; thus, in order to expand robots’ control alternatives, other paths in sensing should be investigated more deeply. Conditions under which the n -th order sensor output can be used to control k -DoF serial robot arms are formally studied in this work. In obtaining the mentioned control conditions, the Pickard-Lindeloff theorem has been used to prove the existence and uniqueness of the robot’s mathematical model solution with n order sensory systems included. To verify that the given conditions and claims guarantee controllability for both continuous-based and variable structure-based systems, two types of control strategies are used in obtaining simulation results: the conventional PID control and a second-order Sliding Mode control.

scholarly journals DYNAMIC COMPUTATION OF HAPTIC-ROBOT DEVICES FOR CONTROL OF A SURGICAL TRAINING SYSTEM

2018 ◽  
pp. 81-93 ◽  
Author(s):  
Vu Minh Hung ◽  
Viorel Mihai ◽  
Cristian Dragana ◽  
Ion Ion ◽  
Nicolae Paraschiv
Keyword(s):  
Closed Loop ◽  
Control Model ◽  
Training System ◽  
Haptic Device ◽  
Dynamic Compensation ◽  
End Effector ◽  
Teleoperation System ◽  
Dynamic Computation ◽  
Force Tracking ◽  
Serial Robot

This paper presents a new control model of the haptic device for the closed loop teleoperation of a minimal surgery training system. Dynamics of a 6-DOF parallel haptic device is computed and compensated to make a decoupled linearization control model. In teleoperation system, the master is the 6-DOF haptic device and the slave is the 6-DOF serial robot. The master haptic device provides the trajectories for the slave serial robot through the operation of user’s hand on the steering handle while the slave robot sends feedback forces on its end effector to the master controller in order to generate forces/moments on the steering handle of haptic master. In this manner the user’s hand will feel the forces/moments as the same those of the robot end effector. The feeling force tracking performances of system can be improved by using dynamic compensation and decoupled linearization controller based on fuzzy PID algorithms. Experiment results indicate that the dynamic compensation and fuzzy control can improve the control performances effectively.

Intestinal Bacteriology of Closed Loop, Strangulated Obstruction in Dogs.

1961 ◽  
Vol 41 (3) ◽  
pp. 245-250 ◽  
Author(s):  
George H. Bornside ◽  
Isidore Cohn
Keyword(s):  
Closed Loop

The Impact of Visual Feedback Type on the Mastery of Visuo-Motor Transformations

2012 ◽  
Vol 220 (1) ◽  
pp. 3-9 ◽  
Author(s):  
Sandra Sülzenbrück
Keyword(s):  
Empirical Research ◽  
Visual Feedback ◽  
Closed Loop ◽  
Motor Planning ◽  
Visual Input ◽  
Closed Loop Control ◽  
Loop Control ◽  
Feedback Type ◽  
Effective Use ◽  
The Impact

For the effective use of modern tools, the inherent visuo-motor transformation needs to be mastered. The successful adjustment to and learning of these transformations crucially depends on practice conditions, particularly on the type of visual feedback during practice. Here, a review about empirical research exploring the influence of continuous and terminal visual feedback during practice on the mastery of visuo-motor transformations is provided. Two studies investigating the impact of the type of visual feedback on either direction-dependent visuo-motor gains or the complex visuo-motor transformation of a virtual two-sided lever are presented in more detail. The findings of these studies indicate that the continuous availability of visual feedback supports performance when closed-loop control is possible, but impairs performance when visual input is no longer available. Different approaches to explain these performance differences due to the type of visual feedback during practice are considered. For example, these differences could reflect a process of re-optimization of motor planning in a novel environment or represent effects of the specificity of practice. Furthermore, differences in the allocation of attention during movements with terminal and continuous visual feedback could account for the observed differences.

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