EEG-Induced Adaptation of Controller Parameter for Closed-Loop Position Control of the End-Effecter in a Robot Arm

2019 ◽  
Author(s):  
Lidia Ghosh ◽  
Amit Konar
Keyword(s):  
Closed Loop ◽  
Position Control ◽  
Robot Arm ◽  
Controller Parameter

Tip Position Control of Single Flexible Links via Parallel Feedforward Compensation

2019 ◽  
Author(s):  
Keyvan Noury ◽  
Bingen Yang
Keyword(s):  
Closed Loop ◽  
Position Control ◽  
Control Method ◽  
Robot Arm ◽  
Flexible Robot ◽  
Order Process ◽  
Nonminimum Phase ◽  
Model Mismatch ◽  
Tip Position ◽  
And Performance

Abstract Developed in this work, is a simple and innovative control method, by which a nonminimum-phase (NMP) process can be easily stabilized in a closed-loop setting. The method is named as the parallel feed-forward compensation with derivative effort (PFCD). Through use of a high order process, the control system designed by the PFCD method is shown to be less influenced by noise, disturbance, and model mismatch, compared to other methods. Moreover, the necessary data required for implementing the PFCD method are discussed. The proposed control method is illustrated on tip position control in a slewing beam as a flexible robot arm, in which the effectiveness of the PFCD method is demonstrated. In addition, the proposed control method is compared with the existing methods in terms of stability and performance. The paper is concluded with notes about the advantages.

Multiobjective Optimization for Stiffness and Position Control in a Soft Robot Arm Module

2018 ◽  
Vol 3 (1) ◽  
pp. 108-115 ◽  
Author(s):  
Y. Ansari ◽  
M. Manti ◽  
E. Falotico ◽  
M. Cianchetti ◽  
C. Laschi
Keyword(s):  
Multiobjective Optimization ◽  
Position Control ◽  
Soft Robot ◽  
Robot Arm

Design of Salt In-Bags Incasing Control Management System Based on Dual Closed-Loop Fuzzy Controller

2014 ◽  
Vol 596 ◽  
pp. 620-624
Author(s):  
Yan Bo Hui ◽  
Yong Gang Wang ◽  
Li Wang ◽  
Qun Feng Niu
Keyword(s):  
Management System ◽  
Closed Loop ◽  
Position Control ◽  
Product Information ◽  
Fuzzy Controller ◽  
High Reliability ◽  
Logistics Management ◽  
High Control ◽  
Control Management System ◽  
Control Management

According to auto-incasing equipment characteristic and control demand, a kind of salt in-bags incasing control management system was designed. The paper introduced the key technologies realization of the system. In the paper, a new fuzzy controller was designed to build a dual closed-loop fuzzy control system, realizing incasing goal site error on-line continuous correction. A logistics management module based on e-Tag was designed to realize product information traceable management. The experimental results show the system realizes accurate position control and RFID logistics management with high reliability and high control precision. The system can be popularized to other products packaging industry.

scholarly journals Novel Design and Position Control Strategy of a Soft Robot Arm

Robotics ◽  
2018 ◽  
Vol 7 (4) ◽  
pp. 72 ◽  
Author(s):  
Alaa Al-Ibadi ◽  
Samia Nefti-Meziani ◽  
Steve Davis ◽  
Theo Theodoridis
Keyword(s):  
Position Control ◽  
Control Strategies ◽  
Tensile Force ◽  
Compressive Force ◽  
Soft Robot ◽  
Robot Arm ◽  
Bending Actuator ◽  
Muscle Actuators ◽  
Novel Design ◽  
Bending Behaviour

This article presents a novel design of a continuum arm, which has the ability to extend and bend efficiently. Numerous designs and experiments have been done to different dimensions on both types of McKibben pneumatic muscle actuators (PMA) in order to study their performances. The contraction and extension behaviour have been illustrated with single contractor actuators and single extensor actuators, respectively. The tensile force for the contractor actuator and the compressive force for the extensor PMA are thoroughly explained and compared. Furthermore, the bending behaviour has been explained for a single extensor PMA, multi extensor actuators and multi contractor actuators. A two-section continuum arm has been implemented from both types of actuators to achieve multiple operations. Then, a novel construction is proposed to achieve efficient bending behaviour of a single contraction PMA. This novel design of a bending-actuator has been used to modify the presented continuum arm. Two different position control strategies are presented, arising from the results of the modified soft robot arm experiment. A cascaded position control is applied to control the position of the end effector of the soft arm at no load by efficiently controlling the pressure of all the actuators in the continuum arm. A new algorithm is then proposed by distributing the x, y and z-axis to the actuators and applying an effective closed-loop position control to the proposed arm at different load conditions.

Vision based 3-D position control for a robot arm

2011 ◽  
Author(s):  
Cheng-Hao Huang ◽  
Chi-Sheng Hsu ◽  
Po-Chien Tsai ◽  
Rong-Jyue Wang ◽  
Wen-June Wang
Keyword(s):  
Position Control ◽  
Robot Arm

Feedforward model-inverse position control of three-stage servo-valve using zero magnitude error tracking control

2018 ◽  
Vol 233 (7) ◽  
pp. 2340-2348 ◽  
Author(s):  
Kyeong Ha Lee ◽  
Seung Guk Baek ◽  
Hyouk Ryeol Choi ◽  
Hyungpil Moon ◽  
Sang-Hoon Ji ◽  
...  
Keyword(s):  
Flow Rate ◽  
Tracking Control ◽  
Closed Loop ◽  
Position Control ◽  
Control Method ◽  
Least Squares Method ◽  
Flow Direction ◽  
Recursive Least Squares ◽  
Servo Valve ◽  
Model Inverse

Three-stage servo-valves are popularly used in hydraulic systems that require large flow rate and high pressure. For a proper control of flow direction and flow rate fed into a hydraulic actuator, securing a proper position control bandwidth is a critical task for the servo-valve. In this paper, a set of popular control methods are systematically studied and a control method is selected. It is proven that the feedforward model-inverse control is the most effective method in terms of the control bandwidth. In the present work, the feedforward closed-loop architecture is adopted and the closed-loop system is estimated in a linear discrete-time transfer function by recursive least squares method. On recognizing a nonminimum phase zero problem, this work implements the zero magnitude error tracking control, an approximate model-inverse technique, in order to overcome the problem. As a result, the effectiveness of the proposed feedforward model-inverse position control strategy is verified.

scholarly journals Design of Motion Controller for Satellite-Borne Data Transmission Antenna

2019 ◽  
Vol 2019 ◽  
pp. 1-11
Author(s):  
Lijiao Li ◽  
Ran Shi ◽  
Xiaohui Zhang ◽  
Jiyu Ma ◽  
Jun Zhang
Keyword(s):  
Data Transmission ◽  
Closed Loop ◽  
Position Control ◽  
Motion Controller ◽  
Description Language ◽  
Precision Motion Control ◽  
Zero Position ◽  
Simulation And Experiment ◽  
Hardware Description ◽  
Precision Motion

In order to realize stable, reliable, and high-precision motion control of the satellite-borne data transmission antenna, a FPGA-based motion controller is designed and achieved. The controller receives commands through the RS-422 asynchronous transmission serial port and performs speed planning autonomously. The controller also performs closed-loop position control with the collected resolver angle and controls two antennas synchronously or independently in a subdivision driving method. The controller is firstly designed using the hardware description language VHDL, simulated in ModelSim software. Then, it is connected to the stepping motors through the LMD18200H bridge chip by using aerospace-grade FPGA, controlling the data transmission antennas to regulate the angle, go to zero-position, or stop rotation. The simulation and experiment results show that the design can control the antennas accurately and stably. The accuracy of angle regulation reaches 0.0085° under the condition of 64 subdivisions and 100 : 1 reduction ratio.

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