Virtual Model Reduction-based Control Strategy of Planar Three-link Underactuated Manipulator with Middle Passive Joint

2020 ◽  
Author(s):  
Zixin Huang ◽  
Xuzhi Lai ◽  
Pan Zhang ◽  
Yawu Wang ◽  
Min Wu
Keyword(s):  
Model Reduction ◽  
Control Strategy ◽  
Virtual Model ◽  
Passive Joint ◽  
Underactuated Manipulator

scholarly journals Study of CPM Device used for Rehabilitation and Effective Pain Management Following Knee Alloplasty

2017 ◽  
Vol 22 (1) ◽  
pp. 241-251 ◽  
Author(s):  
R. Trochimczuk ◽  
T. Kuźmierowski ◽  
P. Anchimiuk
Keyword(s):  
Computer Simulation ◽  
Pain Management ◽  
Computer Simulations ◽  
Control Strategy ◽  
Virtual Model ◽  
Software Environment ◽  
Motion Parameters ◽  
Anatomical Atlas ◽  
Laboratory Prototype ◽  
Selection Of

Abstract This paper defines the design assumptions for the construction of an original demonstration of a CPM device, based on which a solid virtual model will be created in a CAD software environment. The overall dimensions and other input parameters for the design were determined for the entire patient population according to an anatomical atlas of human measures. The medical and physiotherapeutic community were also consulted with respect to the proposed engineering solutions. The virtual model of the CPM device that will be created will be used for computer simulations of changes in motion parameters as a function of time, accounting for loads and static states. The results obtained from computer simulation will be used to confirm the correctness of the design adopted assumptions and of the accepted structure of the CPM mechanism, and potentially to introduce necessary corrections. They will also provide a basis for the development of a control strategy for the laboratory prototype and for the selection of the strategy of the patient's rehabilitation in the future. This paper will be supplemented with identification of directions of further research.

A general control strategy for planar 3-DoF underactuated manipulators with one passive joint

2020 ◽  
Vol 534 ◽  
pp. 139-153
Author(s):  
Zixin Huang ◽  
Xuzhi Lai ◽  
Pan Zhang ◽  
Qingxin Meng ◽  
Min Wu
Keyword(s):  
Control Strategy ◽  
General Control ◽  
Passive Joint ◽  
Underactuated Manipulators

Position Control of 3-DOF Underactuated Manipulators with Last Passive Joint Using Fuzzy Logic Control

2013 ◽  
Vol 373-375 ◽  
pp. 192-196
Author(s):  
Qi Xiao Xia ◽  
Yue Qing Yu ◽  
Zhi Quan Ren
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Control ◽  
Fuzzy Logic Controller ◽  
Position Control ◽  
Fuzzy Controller ◽  
Passive Joint ◽  
Logic Control ◽  
Nonholonomic Dynamics ◽  
Underactuated Manipulator ◽  
Underactuated Manipulators

Underactuated manipulator is one kind of second order nonholonomic dynamics systems. How to control this system is still an open problem. This paper proposes a fuzzy strategy to control three DOF underactuated manipulator with a last passive joint. Four measures are selected to construct the fuzzy logic controller. The four measures are divided into two classes; one class is concerning first link, another class concerning the second link. Four fuzzy logic processors are designed to deal with the measure errors, respectively. The four fuzzy logic processors are also divided into two classes according to the two measure classes. Then, the processed results from the four processors are composed to produce control signs to compensate the errors occurring in the manipulator motion. This method simplifies the design of the fuzzy logic controller. Finally, numerical simulation verifies the fuzzy controller.

Trajectory Tracking of Underactuated Manipulator Using Fuzzy Method

2013 ◽  
Vol 791-793 ◽  
pp. 643-646
Author(s):  
Qi Xiao Xia ◽  
Yue Qing Yu ◽  
Zhang Yu
Keyword(s):  
Numerical Simulation ◽  
Trajectory Tracking ◽  
Control Method ◽  
Fuzzy Controller ◽  
Membership Functions ◽  
Active Joint ◽  
Motion Error ◽  
Passive Joint ◽  
Underactuated Manipulator ◽  
Joint Dynamics

Control of Underactuate manipulator is a challenge. A fuzzy control method is presented to control a three DOFs underactuated manipulator with the last joint passive. Using the redundancy DOF, the base joint was assigned a motion plan. The second active joint is planed and controlled to compose the base joint dynamics to drive the last passive joint moving. So, the motion error of the joint 1 neednt be cared about. The fuzzy controller was designed based on measures errors between the tracked trajectory and desired trajectory. Gaussian membership functions are used for fuzzification of the error inputs and defuzzification of reasoning results. Numerical simulation on tracking of circle arc was implemented for verification of the presented fuzzy controller.

scholarly journals Position and posture control for a planar underactuated manipulator based on model reduction and chained structure

2020 ◽  
Vol 50 (5) ◽  
pp. 718-733
Author(s):  
Min WU ◽  
Dong LIU ◽  
Yawu WANG ◽  
Xuzhi LAI ◽  
Xiongbo WAN
Keyword(s):  
Model Reduction ◽  
Posture Control ◽  
Underactuated Manipulator

scholarly journals Multi-Port Current Source Inverter for Smart Microgrid Applications: A Cyber Physical Paradigm

Electronics ◽  
2018 ◽  
Vol 8 (1) ◽  
pp. 1 ◽  
Author(s):  
Karthikrajan Senthilnathan ◽  
Iyswarya Annapoorani
Keyword(s):  
Control Strategy ◽  
Single Phase ◽  
Test Bench ◽  
Sliding Mode ◽  
Current Source ◽  
Independent Set ◽  
Virtual Model ◽  
Current Source Inverter ◽  
Twin Model ◽  
Remote System

This paper presents a configuration of dual output single-phase current source inverter with six-switches for microgrid applications. The inverter is capable of delivering power to two independent set of loads of equal voltages or different voltages at the load end. The control strategy is based on integral sliding mode control (ISMC). The cyber twin model-based test bench is developed to analyze the performance of the inverter. The cyber twin is a virtual model of the physical system to simulate behaviours. The performance of the inverter is analyzed with a cyber twin model and monitored through the remote system. Also, the inverter is analyzed with different voltage conditions.

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