Adaptability of decentralized kinematic control algorithm to reactive motion under microgravity

2002 ◽  
Author(s):  
S. Kimura ◽  
M. Takahashi ◽  
T. Okuyama
Keyword(s):  
Control Algorithm ◽  
Kinematic Control

scholarly journals On path following control of nonholonomic mobile manipulators

2009 ◽  
Vol 19 (4) ◽  
pp. 561-574 ◽  
Author(s):  
Alicja Mazur ◽  
Dawid Szakiel
Keyword(s):  
Control Algorithm ◽  
Dynamic Control ◽  
Path Following ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
Control Laws ◽  
Kinematic Control ◽  
Motion Constraints ◽  
Path Following Control ◽  
Cascade Structure

On path following control of nonholonomic mobile manipulatorsThis paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade structure of the motion equation, a backstepping procedure is used to achieve motion along a desired path. The control algorithm consists of two simultaneously working controllers: the kinematic controller, solving motion constraints, and the dynamic controller, preserving an appropriate coordination between both subsystems of a mobile manipulator, i.e. the mobile platform and the manipulating arm. A description of the nonholonomic subsystem relative to the desired path using the Frenet parametrization is the basis for formulating the path following problem and designing a kinematic control algorithm. In turn, the dynamic control algorithm is a modification of a passivity-based controller. Theoretical deliberations are illustrated with simulations.

scholarly journals Formation tracking of multiple amphibious robots with unknown nonlinear dynamics

2020 ◽  
Vol 17 (5) ◽  
pp. 172988142093854
Author(s):  
Di Wu ◽  
Lichao Hao ◽  
Xiujun Xu ◽  
Hongjian Wang ◽  
Jiajia Zhou
Keyword(s):  
Nonlinear Dynamics ◽  
Tracking Control ◽  
Control Algorithm ◽  
Dynamic Control ◽  
Lyapunov Theory ◽  
Kinematic Control ◽  
Formation Tracking ◽  
Control Stage ◽  
Cooperative Tracking ◽  
Unknown Nonlinear Dynamics

Cooperative tracking control problem of multiple water–land amphibious robots is discussed in this article with consideration of unknown nonlinear dynamics. Firstly, the amphibious robot dynamic model is formulated as an uncoupled nonlinear one in horizontal plane through eliminating relatively small sway velocity of the platform. Then cooperative tracking control algorithm is proposed with a two-stage strategy including dynamic control stage and kinematic control stage. In dynamic control stage, adaptive consensus control algorithm is obtained with estimating nonlinear properties of amphibious robots and velocities of the leader by neural network with unreliable communication links which is always the case in underwater applications. After that, kinematic cooperative controller is presented to guarantee formation stability of multiple water–land amphibious robots system in kinematic control stage. As a result, with the implementation of graph theory and Lyapunov theory, the stability of the formation tracking of multiple water–land amphibious robots system is proved with consideration of jointly connected communication graph. At last, simulations are carried out to prove the effectiveness of the proposed approaches.

scholarly journals A kinematic control algorithm for blasthole drilling robotic arm in tunneling

2017 ◽  
Vol 20 (K5) ◽  
pp. 13-22
Author(s):  
Thai Hong Nguyen ◽  
Thai Quang Nguyen
Keyword(s):  
Control Algorithm ◽  
Robotic Arm ◽  
Underground Construction ◽  
Robotic Arms ◽  
Kinematic Control ◽  
Typical Method

The most typical method of tunneling in complicated geographical conditions is still blasthole drilling. To improve the efficiency of the work, Vietnam and several other countries have used drilling devices fitted with self-propelled hydraulic seven-link robotic arms which can also be manually controlled to modernize the drilling and blasting processes and improve the accuracy of the work. The task of controlling the robotic arm to automatically drill the holes exactly as specified in the passport of blasting prepared by geotechnical and underground construction engineers requires a control algorithm for the controller of the robot. The matter will be clearly presented in this article.

Fault Adaptive Kinematic Control Using Multiprocessor System and its Verification Using a Hyper-redundant Manipulator

2001 ◽  
Vol 13 (5) ◽  
pp. 540-547 ◽  
Author(s):  
Shinichi Kimura ◽  
◽  
Shigeru Tsuchiya ◽  
Tomoki Takagi ◽  
Shinichiro Nishida ◽  
...  
Keyword(s):  
Decentralized Control ◽  
Research Laboratory ◽  
Control Algorithm ◽  
Multiprocessor System ◽  
Control Architecture ◽  
Redundant Manipulator ◽  
Space System ◽  
Space Robots ◽  
Kinematic Control ◽  
Maintenance System

Decentralized autonomous control architecture and self-organizing control architecture have several advantages in space robots, the most fascinating of which is an adaptation for partial faults. The Communications Research Laboratory have proposed an ""Orbital Maintenance System"" (OMS) that maintains a space system. We have developed a modular manipulator, which can be controlled by distributed processors in each module and can overcome partial failures. In this paper, we introduce a decentralized control algorithm for modular manipulators and discuss its performance in computer simulations and experiments. The algorithm proved useful for inspection in modular manipulators, and robust to partial faults.

Implementation of Dynamic Simulation System on Six DOF Industrial Robot

2013 ◽  
Vol 373-375 ◽  
pp. 206-212
Author(s):  
Qiang Liu ◽  
Yu Han ◽  
Min Hao Liu ◽  
Shang Fei Tian
Keyword(s):  
Dynamic Simulation ◽  
Control Algorithm ◽  
Industrial Robot ◽  
Inverse Kinematic ◽  
Simulation System ◽  
Kinematic Equation ◽  
Software Simulation ◽  
Kinematic Control ◽  
Six Dof ◽  
Vision Simulation

A dynamic simulation system whose model objects were industrial robot was designed. An advanced and quickly inverse kinematic algorithm was used to solve inverse kinematic equation for 6DOF industrial robot, the time of solve was improved. The method of trajectory planning was developed. The vision simulation for industrial robot was completed by Creator and Vega software. Simulation result shows that the requirement of kinematic control has been achieved and provides an intuitive and convenient tool for research of the kinematic control algorithm for industrial robot.

scholarly journals ALGORITHMS FOR KINEMATIC CONTROL OF MULTI-LINK MANIPULATION ROBOTS BASED ON A FUZZY NEURAL NETWORK

2021 ◽  
Vol 6 (6) ◽  
pp. 87-98
Author(s):  
P. Ganin ◽  
A. Kobrin
Keyword(s):  
Neural Network ◽  
Control Algorithm ◽  
Fuzzy Neural Network ◽  
Training Sample ◽  
Fuzzy Neural Networks ◽  
Control Algorithms ◽  
Membership Functions ◽  
Kinematic Control ◽  
Fuzzy Neural ◽  
Newton Raphson

The paper considers the possibility of constructing a kinematic control algorithm for manipulating robots with a serial-connected links. The construction of a control system based on a fuzzy neural network is proposed. The results of experimental studies on the selection of parameters of a fuzzy neural network in accordance with the set optimality criterion (in terms of speed), taking into account the subsequent iterative refinement by the Newton-Raphson method, are presented. The following network parameters are considered: the number and type of node membership functions, the size of the training sample with a different number of training approaches. An algorithm for forming a training sample for fuzzy neural networks is proposed in order to reduce the positioning error of the working body of the manipulating mechanism near the outer boundary of the workspace. The possibility of adapting the kinematic control algorithms by adjusting the parameters of the membership functions in the network nodes when performing the same type of tasks, based on the data of the Newton-Raphson refinement algorithm, is demonstrated. In the framework of this work, a comparative analysis of the developed kinematic control algorithm with algorithms based on iterative and neural network methods for solving the inverse kinematics problem of a manipulative robot is carried out. The conclusion is made about the increase in the speed for calculations of kinematic control algorithms while maintaining the required accuracy

Articulated Wheeled Robots: Exploiting Reconfigurability and Redundancy

2008 ◽  
Author(s):  
Qiushi Fu ◽  
Venkat Krovi
Keyword(s):  
General Class ◽  
Control Algorithm ◽  
Design Analysis ◽  
Wheeled Robots ◽  
Kinematic Control ◽  
Control Schemes ◽  
Two Generations ◽  
Kinematic Models ◽  
Simulation Results ◽  
And Control

Articulated Wheeled Robotic (AWR) locomotion systems consist of chassis connected to a set of wheels through articulated linkages. Such articulated “leg-wheel systems” facilitate reconfigurability that has significant applications in many arenas, but also engender constraints that make the design, analysis and control difficult. We will study this class of systems in the context of design, analysis and control of a novel planar reconfigurable omnidirectional wheeled mobile platform. We first extend a twist based modeling approach to this class of AWRs. Our systematic symbolic implementation allows for rapid formulation of kinematic models for the general class of AWR. Two kinematic control schemes are developed which coordinate the motion of the articulated legs and wheels and resolve redundancy. Simulation results are presented to validate the control algorithm that can move the robot from one configuration to another while following a reference path. The development of two generations of prototypes is also presented briefly.

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