Modeling and Control of 3-PRS parallel robot and simulation based on SimMechanics in MATLAB

2011 ◽  
Author(s):  
M. H. Fatehi ◽  
A. R. Vali ◽  
M. Eghtesad ◽  
A. A. Fatehi
Keyword(s):  
Parallel Robot ◽  
Modeling And Control ◽  
Simulation Based ◽  
And Control

scholarly journals Modeling and Control of a Dragonfly-Like Robot

2010 ◽  
Vol 2010 ◽  
pp. 1-10 ◽  
Author(s):  
Micael S. Couceiro ◽  
N. M. Fonseca Ferreira ◽  
J. A. Tenreiro Machado
Keyword(s):  
System Performance ◽  
Computational Simulation ◽  
The Other ◽  
Control Algorithms ◽  
Kinematics And Dynamics ◽  
Flight Performance ◽  
Modeling And Control ◽  
Wing Motion ◽  
Simulation Based ◽  
And Control

Dragonflies demonstrate unique and superior flight performances than most of the other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness. In this paper, the dynamics of a dragonfly-inspired robot is studied. The system performance is analyzed in terms of time response and robustness. The development of computational simulation based on the dynamics of the robotic dragonfly allows the test of different control algorithms. We study different movements, the dynamics, and the level of dexterity in wing motion of the dragonfly. The results are positive for the construction of flying platforms that effectively mimic the kinematics and dynamics of dragonflies and potentially exhibit superior flight performance than existing flying platforms.

Modeling and Control of Passive Dynamic Walking Robot with Humanoid Gait

2013 ◽  
Vol 461 ◽  
pp. 903-907
Author(s):  
Zhen Chao Zhu ◽  
Zhen Sui ◽  
Yan Tao Tian ◽  
Hong Jiang
Keyword(s):  
Control Strategy ◽  
Finite State Machine ◽  
High Energy ◽  
Upper Body ◽  
Walking Robot ◽  
Bipedal Robot ◽  
Modeling And Control ◽  
Simulation Based ◽  
Finite State ◽  
And Control

Considering the sagittal movement and the lateral swing in the humanoid practical walking, a new humanoid passive dynamic bipedal robot with the lateral movable upper body is proposed in this paper. The finite state machine (FSM) theory is adopted to control the robot, which changes agilely the control strategy according to the practical states of the humanoid gait. In the method, the torque compensation adaptive excitation control strategy is used for sagittal control and PID is applied to the upper body for the robots lateral stability. It is verified by the co-simulation based on ADAMS and MATLAB that the bipedal robot can reach the stable humanoid gait with the high energy efficiency.

Fuzzy Control of a Pneumatic Muscle Driven Parallel Robot for Ankle Rehabilitation

2009 ◽  
Author(s):  
Prashant K. Jamwal ◽  
Shane Xie ◽  
Jack Farrant
Keyword(s):  
Fuzzy Control ◽  
Degrees Of Freedom ◽  
Fuzzy Controller ◽  
Parallel Robot ◽  
Modeling And Control ◽  
Pneumatic Muscle ◽  
Linear Behavior ◽  
Improved Performance ◽  
Unpredictable Environment ◽  
And Control

A new wearable parallel robot has been designed and constructed for ankle joint rehabilitation treatments. The robot employs four pneumatic muscle actuators (PMA) together with cables to achieve three rotational degrees of freedom (dof) of its end platform. Parallel topology of the robot, unpredictable environment along with the time varying and non-linear behavior of actuators impose modeling and control challenges which are difficult to comprehend. In this paper an optimal fuzzy dynamic model of the pneumatic muscle has been developed to accurately predict the muscle behavior. The model is capable of mapping the complex relationship in length, force and pressure of the PMA with higher accuracy. This model has been further used to develop a fuzzy control scheme for the ankle robot. Experimental results are obtained to study and model the simultaneous actuation of all the actuators. Comparison with the previous dynamic modeling and control schemes demonstrates an improved performance of the proposed fuzzy controller.

Modeling and Control of Water Hydraulic Driven Parallel Robot

2010 ◽  
pp. 69-74
Author(s):  
Huapeng Wu ◽  
Pekka Pessi ◽  
Yongbo Wang ◽  
Heikki Handroos
Keyword(s):  
Parallel Robot ◽  
Modeling And Control ◽  
Water Hydraulic ◽  
And Control

scholarly journals Modeling and Control of a Cable-Suspended Sling-Like Parallel Robot for Throwing Operations

2020 ◽  
Vol 10 (24) ◽  
pp. 9067
Author(s):  
Deng Lin ◽  
Giovanni Mottola ◽  
Marco Carricato ◽  
Xiaoling Jiang
Keyword(s):  
Mathematical Models ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Target Point ◽  
Inertial Effects ◽  
End Effector ◽  
Modeling And Control ◽  
And Control ◽  
Three Degrees Of Freedom

Cable-driven parallel robots can provide interesting advantages over conventional robots with rigid links; in particular, robots with a cable-suspended architecture can have very large workspaces. Recent research has shown that dynamic trajectories allow the robot to further increase its workspace by taking advantage of inertial effects. In our work, we consider a three-degrees-of-freedom parallel robot suspended by three cables, with a point-mass end-effector. This model was considered in previous works to analyze the conditions for dynamical feasibility of a trajectory. Here, we enhance the robot’s capabilities by using it as a sling, that is, by throwing a mass at a suitable time. The mass is carried at the end-effector by a gripper, which releases the mass so that it can reach a given target point. Mathematical models are presented that provide guidelines for planning the trajectory. Moreover, results are shown from simulations that include the effect of cable elasticity. Finally, suggestions are offered regarding how such a trajectory can be optimized.

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