Third order super twisting algorithm applied to a robotic arm with 3 degrees of freedom

The objective of above-elbow myoelectric prostheses is to reestablish the functionality of missing limbs and increase the quality of life of amputees. By using electromyography (EMG) electrodes attached to the surface of the skin, amputees are able to control motors in myoelectric prostheses by voluntarily contracting the muscles of their residual limb. This work describes the development of an inexpensive myoelectric training tool (MTT) designed to help upper limb amputees learn how to use myoelectric technology in advance of receiving their actual myoelectric prosthesis. The training tool consists of a physical and simulated robotic arm, signal acquisition hardware, controller software, and a graphical user interface. The MTT improves over earlier training systems by allowing a targeted muscle reinnervation (TMR) patient to control up to two degrees of freedom simultaneously. The training tool has also been designed to function as a research prototype for novel myoelectric controllers. A preliminary experiment was performed in order to evaluate the effectiveness of the MTT as a learning tool and to identify any issues with the system. Five able-bodied participants performed a motor-learning task using the EMG controlled robotic arm with the goal of moving five balls from one box to another as quickly as possible. The results indicate that the subjects improved their skill in myoelectric control over the course of the trials. A usability survey was administered to the subjects after their trials. Results from the survey showed that the shoulder degree of freedom was the most difficult to control.

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Kinematics Analysis and Jacobian calculation for six Degrees of Freedom Robotic Arm

2020 IEEE 17th India Council International Conference (INDICON) ◽

10.1109/indicon49873.2020.9342093 ◽

2020 ◽

Author(s):

Manpreet Kaur ◽

Swati Sondhi ◽

Venkata Karteek Yanumula

Keyword(s):

Degrees Of Freedom ◽

Robotic Arm ◽

Kinematics Analysis ◽

Six Degrees Of Freedom

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TSDT theory for free vibration of functionally graded plates with various material properties

Mathematical Modeling and Computing ◽

10.23939/mmc2021.04.691 ◽

2021 ◽

Vol 8 (4) ◽

pp. 691-704

Author(s):

M. Janane Allah ◽

◽

Y. Belaasilia ◽

A. Timesli ◽

A. El Haouzi ◽

...

Keyword(s):

Degrees Of Freedom ◽

Volume Fraction ◽

Equations Of Motion ◽

Shear Deformation Theory ◽

Functionally Graded ◽

Third Order ◽

Implicit Algorithm ◽

Proposed Model ◽

Graded Material ◽

Composite Modeling

In this work, an implicit algorithm is used for analyzing the free dynamic behavior of Functionally Graded Material (FGM) plates. The Third order Shear Deformation Theory (TSDT) is used to develop the proposed model. In this contribution, the formulation is written without any homogenization technique as the rule of mixture. The Hamilton principle is used to establish the resulting equations of motion. For spatial discretization based on Finite Element Method (FEM), a quadratic element with four and eight nodes is adopted using seven degrees of freedom per node. An implicit algorithm is used for solving the obtained problem. To study the accuracy and the performance of the proposed approach, we present comparisons with literature and laminate composite modeling results for vibration natural frequencies. Otherwise, we examine the influence of the exponent of the volume fraction which reacts the plates "P-FGM" and "S-FGM". In addition, we study the influence of the thickness on "E-FGM" plates.

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Design Human-Robot Collaborative Lifting Task Using Optimization

10.1115/detc2021-71818 ◽

2021 ◽

Author(s):

Asif Arefeen ◽

Yujiang Xiang

Keyword(s):

Degrees Of Freedom ◽

Joint Angle ◽

Joint Torque ◽

Robotic Arm ◽

Inverse Dynamic ◽

Floating Base ◽

Grasping Forces ◽

Design Variables ◽

Human Arm ◽

Lifting Task

Abstract In this paper, an optimization-based dynamic modeling method is used for human-robot lifting motion prediction. The three-dimensional (3D) human arm model has 13 degrees of freedom (DOFs) and the 3D robotic arm (Sawyer robotic arm) has 10 DOFs. The human arm and robotic arm are built in Denavit-Hartenberg (DH) representation. In addition, the 3D box is modeled as a floating-base rigid body with 6 global DOFs. The interactions between human arm and box, and robot and box are modeled as a set of grasping forces which are treated as unknowns (design variables) in the optimization formulation. The inverse dynamic optimization is used to simulate the lifting motion where the summation of joint torque squares of human arm is minimized subjected to physical and task constraints. The design variables are control points of cubic B-splines of joint angle profiles of the human arm, robotic arm, and box, and the box grasping forces at each time point. A numerical example is simulated for huma-robot lifting with a 10 Kg box. The human and robotic arms’ joint angle, joint torque, and grasping force profiles are reported. These optimal outputs can be used as references to control the human-robot collaborative lifting task.

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Simulating 3r robot dynamics using imported cad in Maplesim

Thu Dau Mot University Journal of Science ◽

10.37550/tdmu.ejs/2020.04.084 ◽

2020 ◽

pp. 401-413

Keyword(s):

Degrees Of Freedom ◽

Research Field ◽

Robotic Arm ◽

Robot Dynamics ◽

Industrial Education ◽

Learning And Teaching ◽

Manufacturing Efficiency ◽

Potential Basis ◽

And Control ◽

Support Research

With the development of information technology, many applications of robots are increasingly being applied to support research, learning, and teaching. This paper mainly investigates the modeling and simulation of a robotic arm with 3 degrees of freedom (dofs) for different applications. First, Kinematics and dynamics model of the robot based on the standard Denavit Hartenberg (D-H) modeling method, where the forward kinematics of robot is analyzed and computed to obtain by using the inverse kinematics, and then the solution of the robot dynamics is derived. Second, a CAD model of the robot is designed on CATIA software to convert to MapleSim software to simulation and control. Final, numerical simulation is presented to display results. This work provides a potential basis for the realization of the robotic arm in the industrial, education, and research field, which is of great significance for improving manufacturing efficiency and support teaching and research in the robot field.

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Robust Low-Tubal-Rank Tensor Completion via Convex Optimization

Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence ◽

10.24963/ijcai.2019/368 ◽

2019 ◽

Cited By ~ 7

Author(s):

Qiang Jiang ◽

Michael Ng

Keyword(s):

Degrees Of Freedom ◽

L1 Norm ◽

Third Order ◽

Order Tensor ◽

Rank Tensor ◽

Real World Applications ◽

Algebraic Framework ◽

Tensor Nuclear Norm ◽

Theoretical Results ◽

Weighted Combination

This paper considers the problem of recovering multidimensional array, in particular third-order tensor, from a random subset of its arbitrarily corrupted entries. Our study is based on a recently proposed algebraic framework in which the tensor-SVD is introduced to capture the low-tubal-rank structure in tensor. We analyze the performance of a convex program, which minimizes a weighted combination of the tensor nuclear norm, a convex surrogate for the tensor tubal rank, and the tensor l1 norm. We prove that under certain incoherence conditions, this program can recover the tensor exactly with overwhelming probability, provided that its tubal rank is not too large and that the corruptions are reasonably sparse. The number of required observations is order optimal (up to a logarithm factor) when comparing with the degrees of freedom of the low-tubal-rank tensor. Numerical experiments verify our theoretical results and real-world applications demonstrate the effectiveness of our algorithm.

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A remote center of motion robotic arm for computer assisted surgery

Robotica ◽

10.1017/s0263574700018981 ◽

1996 ◽

Vol 14 (1) ◽

pp. 103-109 ◽

Cited By ~ 20

Author(s):

B. Eldridge ◽

K. Gruben ◽

D. LaRose ◽

J. Funda ◽

S. Gomory ◽

...

Keyword(s):

Degrees Of Freedom ◽

Computer Assisted Surgery ◽

Video Camera ◽

Robotic Arm ◽

Computer Assisted ◽

Robot Arm ◽

Minimally Invasive Surgical ◽

Tissue Manipulation ◽

Servo Controller ◽

Rotation Stage

SummaryWe have designed a robotic arm based on a double parallel four bar linkage to act as an assistant in minimally invasive surgical procedures. The remote center of motion (RCM) geometry of the robot arm kinematically constraints the robot motion such that minimal translation of an instrument held by the robot takes place at the entry portal into the patientApos;s body. In addition to the two rotational degrees of freedom comprising the RCM arm, distal translation and rotation are provided to manoeuver the instrument within the patient's body about an axis coincident with the RCM. An XYZ translation stage located proximal to the RCM arm provides positioning capability to establish the RCM location relative to the patients anatomy. An electronics set capable of controlling the system, as well as performing a series of safety checks to verify correct system operation, has also been designed and constructed. The robot is capable of precise positional motion. Repeatability in the ±10 micron range is demonstrated. The complete robotic system consists of the robot hardware and an IBM PC-AT based servo controller connected via a custom shared memory link to a host IBM PS/2. For laparoscopic applications, the PS/2 includes an image capture board to capture and process video camera images. A camera rotation stage has also been designed for this application. We have successfully demonstrated this system as an assistant in a laparoscopic cholecystectomy. Further applications for this system involving active tissue manipulation are under development.

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A Robotic Cell for Embedding Prefabricated Components in Extrusion-Based Additive Manufacturing

Volume 1: Additive Manufacturing; Advanced Materials Manufacturing; Biomanufacturing; Life Cycle Engineering; Manufacturing Equipment and Automation ◽

10.1115/msec2020-8494 ◽

2020 ◽

Author(s):

Yeo Jung Yoon ◽

Oswin G. Almeida ◽

Aniruddha V. Shembekar ◽

Satyandra K. Gupta

Keyword(s):

Additive Manufacturing ◽

Degrees Of Freedom ◽

Robotic Manipulators ◽

The Other ◽

Robotic Arm ◽

Robotic Cell ◽

Material Extrusion ◽

Surface Polishing ◽

Pick And Place ◽

6 Degrees Of Freedom

Abstract By attaching a material extrusion system to a robotic arm, we can deposit materials onto complex surfaces. Robotic manipulators can also maximize the task utility by performing other tasks such as assembly or surface polishing when they are not in use for the AM process. We present a robotic cell for embedding prefabricated components in extrusion-based AM. The robotic cell consists of two 6 degrees of freedom (DOF) robots, an extrusion system, and a gripper. One robot is used for printing a part, and the other robot takes a support role to pick and place the prefabricated component and embed it into the part being printed. After the component is embedded, AM process resumes, and the material is deposited onto the prefabricated components and previously printed layers. We illustrate the capabilities of the system by fabricating three objects.

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