Synthesis of Control Algorithm and Computer Simulation of Robotic Manipulator-Tripod

2015 ◽  
pp. 391-403
Keyword(s):  
Computer Simulation ◽  
Control Algorithm ◽  
Robotic Manipulator

How to achieve precise operation of a robotic manipulator on a macro to micro/nano scale

2017 ◽  
Vol 37 (2) ◽  
pp. 186-199 ◽  
Author(s):  
Zhiqiang Yu ◽  
Qing Shi ◽  
Huaping Wang ◽  
Ning Yu ◽  
Qiang Huang ◽  
...  
Keyword(s):  
Control Algorithm ◽  
Mechanical Design ◽  
Robotic Manipulator ◽  
Control Algorithms ◽  
General Control ◽  
Content Type ◽  
Mechanical Parts ◽  
Accurate Perception ◽  
And Control ◽  
Made In

Purpose The purpose of this paper is to present state-of-the-art approaches for precise operation of a robotic manipulator on a macro- to micro/nanoscale. Design/methodology/approach This paper first briefly discussed fundamental issues associated with precise operation of a robotic manipulator on a macro- to micro/nanoscale. Second, this paper described and compared the characteristics of basic components (i.e. mechanical parts, actuators, sensors and control algorithm) of the robotic manipulator. Specifically, commonly used mechanisms of the manipulator were classified and analyzed. In addition, intuitive meaning and applications of its actuator explained and compared in details. Moreover, related research studies on general control algorithm and visual control that are used in a robotic manipulator to achieve precise operation have also been discussed. Findings Remarkable achievements in dexterous mechanical design, excellent actuators, accurate perception, optimized control algorithms, etc., have been made in precise operations of a robotic manipulator. Precise operation is critical for dealing with objects which need to be manufactured, modified and assembled. The operational accuracy is directly affected by the performance of mechanical design, actuators, sensors and control algorithms. Therefore, this paper provides a categorization showing the fundamental concepts and applications of these characteristics. Originality/value This paper presents a categorization of the mechanical design, actuators, sensors and control algorithms of robotic manipulators in the macro- to micro/nanofield for precise operation.

scholarly journals ROTOR SYNCHRONIZATION CONTROL OF DOUBLE-ROTOR VIBRATION UNIT UNDER STOCHASTIC LOAD

2020 ◽  
Vol 4 ◽  
pp. 49-59
Author(s):  
D.A. Tomchin ◽  
◽  
N.V. Gukov ◽  
A.A. Nersesian ◽  
T.A. Sventsitskaya ◽  
...  
Keyword(s):  
Computer Simulation ◽  
Adaptive Control ◽  
Control Algorithm ◽  
Synchronization Control ◽  
Rotor Vibration ◽  
Bulk Materials ◽  
Matlab Software ◽  
Stochastic Load ◽  
Synchronous Operation ◽  
Adaptive Control Algorithm

The paper examines the dynamics of the system for rotor synchronization control of double-rotor vi-bration unit designed for sifting bulk materials. Computer simulation in the MATLAB software envi-ronment shows that the proposed adaptive control algorithm provides a steady synchronous operation under stochastic load.

scholarly journals Finding the Optimal Parameters for Robotic Manipulator Applications of the Bounded Error Algorithm for Iterative Learning Control

2017 ◽  
Vol 47 (4) ◽  
pp. 3-11 ◽  
Author(s):  
Kaloyan Yovchev
Keyword(s):  
Computer Simulation ◽  
Iterative Learning Control ◽  
Robotic Manipulators ◽  
Learning Control ◽  
Robotic Manipulator ◽  
Iterative Learning ◽  
Optimal Parameters ◽  
Manipulator Arm ◽  
Bounded Error ◽  
Optimal Values

Abstract This paper continues previous research of the Bounded Error Algorithm (BEA) for Iterative Learning Control (ILC) and its application into the control of robotic manipulators. It focuses on investigation of the influence of the parameters of BEA over the convergence rate of the ILC process. This is performed first through a computer simulation. This simulation suggests optimal values for the parameters. Afterwards, the estimated results are validated on a physical robotic manipulator arm. Also, this is one of the first reports of applying BEA into robots control.

scholarly journals Self-Reconfigurable Modular Robots Adaptively Transforming a Mechanical Structure: Algorithm for Adaptive Transformation to Load Condition

2011 ◽  
Vol 2011 ◽  
pp. 1-13
Author(s):  
Yosuke Suzuki ◽  
Norio Inou ◽  
Hitoshi Kimura ◽  
Michihiko Koseki
Keyword(s):  
Computer Simulation ◽  
Control Algorithm ◽  
Load Condition ◽  
The Self ◽  
Modular Robots ◽  
Modular Robot ◽  
Simple Idea ◽  
Mechanical Structure ◽  
Cantilever Structure ◽  
Structure Algorithm

Self-reconfigurable modular robots are composed of modules which are able to autonomously change the way they are connected. An appropriate control algorithm enables the modular robots to change their shape in order to adapt to their immediate environment. In this paper, we propose an algorithm for adaptive transformation to load condition of the modular robots. The algorithm is based on a simple idea that modules have tendency to gather around stress-concentrated parts and reinforce the parts. As a result of the self-reconfiguration rule, the modular robots form an appropriate structure to stand for the load condition. Applying the algorithm to our modular robot named “CHOBIE II,” we show by computer simulation that the modules are able to construct a cantilever structure with avoiding overstressed states.

Control Algorithm for the Path Tracking of the Nonholonomic Mobile Robots

2015 ◽  
Vol 816 ◽  
pp. 154-159
Author(s):  
Ľubica Miková ◽  
Alexander Gmiterko ◽  
Jaromír Jezný
Keyword(s):  
Computer Simulation ◽  
Mobile Robots ◽  
Control Algorithm ◽  
Path Tracking ◽  
Nonholonomic Mobile Robots ◽  
Tracking Controllers

Many applications in robotics require precise tracking of the prescribed path. The classic “tracking controllers” are not appropriate for this type of tasks, because they do not guarantee that the robot remains on the prescribed path. The aim of this paper is to propose and to verify, by means of computer simulation, the method of control, which ensures that the “output” of the robot will move along the prescribed path.

scholarly journals Simulation of NURBS Curve Interpolation Algorithm and Five S-Phased Acceleration and Deceleration Control Algorithm

2011 ◽  
Vol 2-3 ◽  
pp. 619-623
Author(s):  
Geng Zhu Wang
Keyword(s):  
Computer Simulation ◽  
Control Algorithm ◽  
Control Method ◽  
Simulation Method ◽  
Interpolation Algorithm ◽  
Nurbs Curve ◽  
Computer Simulation Method ◽  
Curve Interpolation ◽  
Acceleration And Deceleration

The computer simulation method is used to test the correctness of the NURBS curve interpolation algorithm, through the comparison of the five S-phased curve acceleration and deceleration control method and the line acceleration and deceleration control method, to validate the superiority of the five S-phased curve acceleration and deceleration control method.

Application of Robust Discontinuous Control Algorithm for a 5-DOF Industrial Robotic Manipulator in real-time

2021 ◽  
Vol 101 (4) ◽  
Author(s):  
Giovanni Lopez Cruz ◽  
Hussain Alazki ◽  
David Cortes-Vega ◽  
José Luis Rullán-Lara
Keyword(s):  
Real Time ◽  
Control Algorithm ◽  
Robotic Manipulator ◽  
Discontinuous Control

The Application of Neural Position/Force Control in a Robotised Machining Process

2015 ◽  
Vol 220-221 ◽  
pp. 49-54
Author(s):  
Piotr Gierlak
Keyword(s):  
Neural Networks ◽  
Mathematical Model ◽  
Force Control ◽  
Robot Control ◽  
Control Algorithm ◽  
Control Process ◽  
Robotic Manipulator ◽  
Adaptive Method ◽  
Experimental Results ◽  
Machining Process

This paper presents an application of a robotic manipulator in a machining process. Due to the specifics of the process and numerous phenomena which are difficult to be modelled, suitable tool for the robot control are neural networks. This work concentrates on the robot control process. A synthesis of a neural position/force control algorithm is presented. The algorithm was tested by simulation and in actual conditions on a laboratory stand. The work presents the experimental results with their comparison with an adaptive method based on the robot’s mathematical model.

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