Learning-based modeling and control of underactuated balance robotic systems

2017 ◽  
Author(s):  
Kuo Chen ◽  
Jingang Yi ◽  
Tao Liu
Keyword(s):  
Robotic Systems ◽  
Modeling And Control ◽  
And Control

Operational Space Inertia for Closed-Chain Robotic Systems

2014 ◽  
Vol 9 (2) ◽  
Author(s):  
Abhinandan Jain
Keyword(s):  
Robotic Systems ◽  
Short Paper ◽  
Modeling And Control ◽  
Operational Space ◽  
Closed Chain ◽  
Space Modeling ◽  
Close Relationship ◽  
The Rich ◽  
End Effectors ◽  
And Control

Operational space modeling and control are important techniques for robot manipulation. A key element of operational space control is the operational space inertia matrix (OSIM). The OSIM matrix represents a mapping between end-effector spatial forces and spatial accelerations and is configuration-dependent. In the case of multiple end-effectors, the OSIM also encapsulates the dynamics cross coupling between the end-effectors. The rich structure of the OSIM for tree systems has been exploited by researchers for analysis and the development of low-order computational algorithms. Extending such techniques to the OSIM for closed-chain robotic systems is the focus of this short paper. We derive explicit analytical expressions for the closed-chain OSIM that reveals its close relationship to an extended tree-system OSIM.

scholarly journals Biologically inspired control and modeling of (bio)robotic systems and some applications of fractional calculus in mechanics

2013 ◽  
Vol 40 (1) ◽  
pp. 163-187
Author(s):  
Mihailo Lazarevic
Keyword(s):  
Fractional Calculus ◽  
Mechanical System ◽  
Robotic Systems ◽  
Main Role ◽  
Biologically Inspired ◽  
Modeling And Control ◽  
Invariant Features ◽  
Minimum Interaction ◽  
And Control ◽  
Biologically Inspired Control

In this paper, the applications of biologically inspired modeling and control of (bio)mechanical (non)redundant mechanisms are presented, as well as newly obtained results of author in mechanics which are based on using fractional calculus. First, it is proposed to use biological analog-synergy due to existence of invariant features in the execution of functional motion. Second, the model of (bio)mechanical system may be obtained using another biological concept called distributed positioning (DP), which is based on the inertial properties and actuation of joints of considered mechanical system. In addition, it is proposed to use other biological principles such as: principle of minimum interaction, which takes a main role in hierarchical structure of control and self-adjusting principle (introduce local positive/negative feedback on control with great amplifying), which allows efficiently realization of control based on iterative natural learning. Also, new, recently obtained results of the author in the fields of stability, electroviscoelasticity, and control theory are presented which are based on using fractional calculus (FC).

scholarly journals Recursive Methods in Modeling and Control of Modular Robotic Systems

PAMM ◽  
2012 ◽  
Vol 12 (1) ◽  
pp. 83-84
Author(s):  
Bernhard Oberhuber ◽  
Hubert Gattringer ◽  
Hartmut Bremer ◽  
Bruno Fellhauer
Keyword(s):  
Robotic Systems ◽  
Recursive Methods ◽  
Modeling And Control ◽  
And Control

scholarly journals Modeling and Control of Robotic Systems Course: from Fundamentals to Applications

2019 ◽  
Vol 52 (9) ◽  
pp. 224-229 ◽  
Author(s):  
Vladislav S. Gromov ◽  
Oleg I. Borisov ◽  
Sergey S. Shavetov ◽  
Anton A. Pyrkin ◽  
Fatimat B. Karashaeva
Keyword(s):  
Robotic Systems ◽  
Modeling And Control ◽  
And Control

Design, Modeling and Control of a New Robotic Module Actuated by Shape Memory Alloy Springs

2009 ◽  
Author(s):  
Alireza Hadi ◽  
Mohammad Elahinia ◽  
Asadollah Ghazavi ◽  
Majid M. Moghadam
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Variable Structure ◽  
Robotic Systems ◽  
Modeling And Control ◽  
Modular Systems ◽  
Structure Control ◽  
Spring Type ◽  
Sma Spring ◽  
And Control

Modular robotic systems provide attractive benefits in the form of re-configurable robots that can change and adapt for special tasks. Self-reconfigurable is re-configurable robot with the ability to change their framework for different missions. One way to increase robots capabilities and to achieve self-configurable robots is to develop small, powerful and dexterous modules. In this paper, a new mechanism which uses Shape Memory Alloy (SMA) spring actuators is applied to develop a robotic module. Among the proposed modular systems until now, shape memory alloys especially the spring type are rarely used as actuators. The proposed mechanism is based on antagonistic application of SMA springs which provide faster actuation response. It is shown that the module mechanism is suitable for developing modular robotic systems, such as mobile robots, snake robots, and legged robots. The design of mechanical and electrical hardware of the module in addition to the sensing and actuating system is done talented in an optimum space. The same extendable modules communicate through a common bus in order to develop a distributed system. Consequently a proper module is presented to be applied in different robotic systems. Moreover, an effective non-linear control strategy which is variable structure control is applied for controlling the position of the module. Benefits and suitability of this controller for the module different configurations is verified using simulations and experiments.

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