Six DOF Measurement in Engineering Constructions and Control Operations in Space

Robotics 2000 ◽  
2000 ◽  
Author(s):  
Milan Kvasnica
Keyword(s):  
Six Dof ◽  
And Control

Experimental results for the flexible joint cable-suspended manipulator of ICaSbot

Robotica ◽  
2013 ◽  
Vol 31 (6) ◽  
pp. 887-904 ◽  
Author(s):  
M. H. Korayem ◽  
M. Bamdad ◽  
H. Tourajizadeh ◽  
A. H. Korayem ◽  
R. M. Zehtab ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Experimental Tests ◽  
Parallel Robot ◽  
Joint Space ◽  
End Effector ◽  
Flexible Joint ◽  
Cable Robot ◽  
Six Dof ◽  
And Control ◽  
Computed Torque

SUMMARYIn this paper, design, dynamic, and control of the motors of a spatial cable robot are presented considering flexibility of the joints. End-effector control in order to control all six spatial degrees of freedom (DOFs) of the system and motor control in order to control the joints flexibility are proposed here. Corresponding programing of its operation is done by formulating the kinematics and dynamics and also control of the robot. Considering the existence of gearboxes, flexibility of the joints is modeled in the feed-forward term of its controller to achieve better accuracy. A two sequential closed-loop strategy consisting of proportional derivative (PD) for linear actuators in joint space and computed torque method for nonlinear end-effector in Cartesian space is presented for further accuracy. Flexibility is estimated using modeling and simulation by MATLAB and SimDesigner. A prototype has been built and experimental tests have been done to verify the efficiency of the proposed modeling and controller as well as the effect of flexibility of the joints. The ICaSbot (IUST Cable-Suspended robot) is an under-constrained six-DOF parallel robot actuated by the aid of six suspended cables. An experimental test is conducted for the manufactured flexible joint cable robot of ICaSbot and the outputs of sensors are compared with simulation. The efficiency of the proposed schemes is demonstrated.

Kinematics of the Translational 3-URC Mechanism1

2004 ◽  
Vol 126 (6) ◽  
pp. 1113-1117 ◽  
Author(s):  
Raffaele Di Gregorio
Keyword(s):  
Explicit Form ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Industrial Applications ◽  
Parallel Architectures ◽  
Six Degrees Of Freedom ◽  
Spatial Mechanisms ◽  
Six Dof ◽  
And Control ◽  
Spherical Motion

The use of less than six degrees of freedom (dof) mechanisms instead of six-dof ones is always recommended when the application makes it possible, since their architectures and control are simpler to manufacture and implement respectively. Three-dof mechanisms constitute an important subset of less-than-six-dof mechanisms, since either translational or spherical motion can be obtained through three-dof spatial mechanisms and many industrial applications require the only translational or spherical motion. This paper presents a new translational parallel mechanism (TPM), named translational 3-URC. The new mechanism belongs to the parallel architectures with 3-URC topology, which contain another architecture that is a spherical parallel wrist. The proposed TPM is not overconstrained and has three equal legs whose kinematic pairs are three revolute pairs and one passive cylindrical pair per leg. Its actuated pairs are three revolute pair located on the frame. The position and velocity analyses of the translational 3-URC will be addressed and solved. Its singularity conditions will be written in explicit form and geometrically interpreted.

Mechatronic Concepts in Design and Control of a Teleoperated Robot

2012 ◽  
Vol 162 ◽  
pp. 575-582 ◽  
Author(s):  
Ciprian Lapusan ◽  
Vistrian Maties ◽  
Olimpiu Hancu ◽  
Ciprian Rad
Keyword(s):  
Development Process ◽  
Integrated Design ◽  
Parallel Robot ◽  
Hardware In The Loop ◽  
Rapid Control ◽  
Modern Methods ◽  
Integrated Design Approach ◽  
Rapid Control Prototyping ◽  
Six Dof ◽  
And Control

The article proposes a new mechatronic integrated design approach for a robotic system. The proposed method uses modern methods like model based design, rapid control prototyping and hardware in the loop simulations in the development process. Using this method a six DOF teleoperated parallel robot is developed, the results are presented in the paper.

Modeling and Control of Unmanned Trimaran Vehicles

2010 ◽  
Vol 43 ◽  
pp. 541-545
Author(s):  
Yan Peng ◽  
Mei Liu ◽  
Qing Jiu Huang ◽  
Jun Luo
Keyword(s):  
Mathematical Modeling ◽  
Control System ◽  
Dynamic Modeling ◽  
Control Design ◽  
Modeling And Control ◽  
Physical Experiments ◽  
Six Dof ◽  
And Control

The modeling and sea trials of the Unmanned Trimaran Vehicles (UTSV) are presented in this paper. For control design, six DOF dynamic modeling of autonomous Trimarans is presented. The detailed mathematical modeling is intended to provide the appropriate framework for a control design which explicitly addressed the six DOF UTV dynamics. A control system was developed based on backstepping to guide the vessel to track desired trajectories based on the input of the sensors. Physical experiments were conducted to determine the maneuvering property of UTV.

Design and control of a new six DOF parallel robot: Application to equestrian gait simulation

Mechatronics ◽  
1996 ◽  
Vol 6 (2) ◽  
pp. 227-239 ◽  
Author(s):  
Y. Amirat ◽  
C. Francois ◽  
G. Fried ◽  
J. Pontnau ◽  
M. Dafaoui
Keyword(s):  
Parallel Robot ◽  
Gait Simulation ◽  
Six Dof ◽  
And Control

Research on Hydro-Dynamic of Column Body Water-Entry with Six-DOF at High-Speed

2014 ◽  
Vol 533 ◽  
pp. 40-43
Author(s):  
Shan Qi Wu ◽  
Xing Wu Kang
Keyword(s):  
Numerical Calculation ◽  
Flow Field ◽  
High Speed ◽  
Water Entry ◽  
Attitude Angle ◽  
Three Phase ◽  
Natural Cavitation ◽  
Six Dof ◽  
Phase Water ◽  
And Control

By using the commercial CFD software Fluent6.3, the three-phase (water, air, vapour) flow field with natural cavitation was established. The UDF(User Defined Function) was used to resolve and control the missiles movement. It realized the numerical calculation of unsteady high-speed water-entry flow field, which consider natural cavitation as well as the missiles multiple degree of free movement. In this paper, the missile high-speed water-entry flow field with different attitude angle were simulated and analyzed, and the influence of the attitude angle on the flow field were gained.

Control of Metal Alloy Oxidation with Electric Fields

1973 ◽  
Vol 31 ◽  
pp. 164-165
Author(s):  
R. R. Dils ◽  
P. S. Follansbee
Keyword(s):  
Electric Fields ◽  
Oxidation Process ◽  
Base Alloy ◽  
Oxide Surface ◽  
Platinum Electrodes ◽  
Insulating Layer ◽  
Iron Base Alloy ◽  
Alloy Oxidation ◽  
Aluminum Oxide Layer ◽  
And Control

Electric fields have been applied across oxides growing on a high temperature alloy and control of the oxidation of the material has been demonstrated. At present, three-fold increases in the oxidation rate have been measured in accelerating fields and the oxidation process has been completely stopped in a retarding field.The experiments have been conducted with an iron-base alloy, Pe 25Cr 5A1 0.1Y, although, in principle, any alloy capable of forming an adherent aluminum oxide layer during oxidation can be used. A specimen is polished and oxidized to produce a thin, uniform insulating layer on one surface. Three platinum electrodes are sputtered on the oxide surface and the specimen is reoxidized.

Evidence for a Blood Ganglion Barrier in the Superior Cervical Ganglion of the Rat

1982 ◽  
Vol 40 ◽  
pp. 204-204
Author(s):  
D. M. DePace
Keyword(s):  
Blood Vessels ◽  
Superior Cervical Ganglion ◽  
Peripheral Nerves ◽  
Time Schedule ◽  
Transmission Electron ◽  
Cervical Ganglion ◽  
The Central Nervous System ◽  
Cervical Ganglia ◽  
Capillary Circulation ◽  
And Control

The majority of blood vessels in the superior cervical ganglion possess a continuous endothelium with tight junctions. These same features have been associated with the blood brain barrier of the central nervous system and peripheral nerves. These vessels may perform a barrier function between the capillary circulation and the superior cervical ganglion. The permeability of the blood vessels in the superior cervical ganglion of the rat was tested by intravenous injection of horseradish peroxidase (HRP). Three experimental groups of four animals each were given intravenous HRP (Sigma Type II) in a dosage of.08 to.15 mg/gm body weight in.5 ml of.85% saline. The animals were sacrificed at five, ten or 15 minutes following administration of the tracer. Superior cervical ganglia were quickly removed and fixed by immersion in 2.5% glutaraldehyde in Sorenson's.1M phosphate buffer, pH 7.4. Three control animals received,5ml of saline without HRP. These were sacrificed on the same time schedule. Tissues from experimental and control animals were reacted for peroxidase activity and then processed for routine transmission electron microscopy.

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