A neural autonomous robotic manipulator with three degrees of freedom

Author(s):  
Mateus Cabral dos Santos ◽  
Rodrigo Henrique Cunha Palácios ◽  
Márcio Mendonça ◽  
José Augusto Fabri ◽  
Wagner Fontes Godoy
2019 ◽  
Vol 9 (10) ◽  
pp. 2023 ◽  
Author(s):  
Hoai-Vu-Anh Truong ◽  
Duc-Thien Tran ◽  
Kyoung Kwan Ahn

The manipulator, in most cases, works in unstructured and changeable conditions. With large external variations, the demand for stability and robustness must be ensured. This paper proposes a neural network sliding mode control (NNSMC) to cope with uncertainties and improve the behavior of the robotic manipulator in the presence of an external disturbance. The proposed method is applied to the three degrees of freedom (DOF) manipulator. Some comparisons between the proposed and the conventional algorithms are given in both simulation and experiments to prove that the designed control can achieve higher accuracy in tracking motion.


Robotica ◽  
2006 ◽  
Vol 25 (1) ◽  
pp. 103-112 ◽  
Author(s):  
Mirosław Galicki

This study addresses the problem of adaptive controlling of both a nonredundant and a redundant robotic manipulator with state-dependent constraints. The task of the robot is to follow a prescribed geometric path given in the task space, by the end-effector. The aforementioned robot task has been solved on the basis of the Lyapunov stability theory, which is used to derive the control scheme. A new adaptive Jacobian controller is proposed in the paper for the path following of the robot, with both uncertain kinematics and dynamics. The numerical simulation results carried out for a planar redundant three-DOF (three degrees of freedom) manipulator whose end-effector follows a prescribed geometric path given in a two-dimensional (2D) task space, illustrate the trajectory performance of the proposed control scheme.


2018 ◽  
Vol 51 (13) ◽  
pp. 372-377 ◽  
Author(s):  
Juan E. Andrade García ◽  
Alejandra Ferreira de Loza ◽  
Luis T. Aguilar ◽  
Ramón I. Verdés

Author(s):  
A. H. S. Iyer ◽  
M. H. Colliander

Abstract Background The trend in miniaturisation of structural components and continuous development of more advanced crystal plasticity models point towards the need for understanding cyclic properties of engineering materials at the microscale. Though the technology of focused ion beam milling enables the preparation of micron-sized samples for mechanical testing using nanoindenters, much of the focus has been on monotonic testing since the limited 1D motion of nanoindenters imposes restrictions on both sample preparation and cyclic testing. Objective/Methods In this work, we present an approach for cyclic microcantilever bending using a micromanipulator setup having three degrees of freedom, thereby offering more flexibility. Results The method has been demonstrated and validated by cyclic bending of Alloy 718plus microcantilevers prepared on a bulk specimen. The experiments reveal that this method is reliable and produces results that are comparable to a nanoindenter setup. Conclusions Due to the flexibility of the method, it offers straightforward testing of cantilevers manufactured at arbitrary position on bulk samples with fully reversed plastic deformation. Specific microstructural features, e.g., selected orientations, grain boundaries, phase boundaries etc., can therefore be easily targeted.


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