Design, Implementation and Control of an Improved Hybrid Pneumatic-Electric Actuator for Robot Arms

Cooperative manipulators are among the subject of interest in the scientific community for the last few years. Here an overview of the design and control of such cooperative manipulators using Speech Commands in English, Hindi, and Tamil is discussed. Here we choose two identical Robot arms from lynxmotion, and both manipulators move in conjunction with one another to achieve more payload while grasping or handling the object by the end effector. The simultaneous control of identical robot manipulators could be performed by pronouncing simple speech commands by the end user using a smartphone, which then is converted into text format using a speech recognition engine and this text fed to servo controller helps in actuating the joints of identical robot arms. Cooperative manipulators are used for handling radioactive elements and also in the field of medicine as rehabilitation aid and also in surgeries. An Android app specifically built for this purpose communicates through Bluetooth technology makes the interface for end-user simple to control both identical robot arms simultaneously.

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2A2-J15 Development of Super-Robust HFD Electric Actuator : Fundamentals and Mechanism of Prototype Actuator installed in UMRS2009(Mechanism and Control for Actuator)

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2011._2a2-j15_1 ◽

2011 ◽

Vol 2011 (0) ◽

pp. _2A2-J15_1-_2A2-J15_2

Author(s):

Hidetake IWASAKI ◽

Sakae UMEDA ◽

Yuuta HAMASAKI ◽

Sigeru KOBAYASHI ◽

Yoshikazu OHTSUBO ◽

...

Keyword(s):

Electric Actuator ◽

And Control

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Simultaneous Optimization of Mechanism and Control in Cooperative Work of Multiple Robot Arms

Journal of the Japan Society of Applied Electromagnetics and Mechanics ◽

10.14243/jsaem.29.161 ◽

2021 ◽

Vol 29 (1) ◽

pp. 161-167

Author(s):

Fumiya KITANO ◽

Hidetoshi UCHIKATA ◽

Kojiro MATSUSITA ◽

Motoki SHIGA ◽

Minoru SASAKI

Keyword(s):

Cooperative Work ◽

Simultaneous Optimization ◽

Robot Arms ◽

Multiple Robot ◽

And Control

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An Approach to Motion and Force Control of Coordinated Robot Arms in the Presence of Joint Flexibility

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2899227 ◽

1994 ◽

Vol 116 (3) ◽

pp. 326-335 ◽

Cited By ~ 8

Author(s):

Yan-Ru Hu ◽

Andrew A. Goldenberg

Keyword(s):

Contact Force ◽

Force Control ◽

Lyapunov Stability Theory ◽

Internal Force ◽

System Stability ◽

Motion Controller ◽

Flexible Joint ◽

Robot Arms ◽

Simulation Results ◽

And Control

A system consisting of several flexible joint robot arms is studied in this paper. The paper addresses the motion and force control problem of such systems. A coordinating controller, consisting of a motion controller, contact force controller, and internal force controller, is designed to distribute the load between the coordinated flexible joint robot arms, and control the motion of the object, the internal force and contact force between the object and the environment, as well generate the desired joint elastic force. The system stability is analyzed based on Lyapunov stability theory. It is shown that with the proposed controller the motion and force control variables can be regulated to track asymptotically their desired trajectories. Simulation results are given to illustrate the performance of the proposed controller.

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