Design and Prototyping of One Degree-of-Freedom Rehabilitation Robotic Arm with Variable Weights

2019 ◽  
Author(s):  
Mahdi Atashi Gw.olestan ◽  
Amin Hamed ◽  
Mehdi Tale Masouleh
Keyword(s):  
Degree Of Freedom ◽  
Robotic Arm ◽  
Variable Weights ◽  
Rehabilitation Robotic

scholarly journals Adaptive robust control of quadrotor with a 2-degree-of-freedom robotic arm

2018 ◽  
Vol 10 (8) ◽  
pp. 168781401877863 ◽  
Author(s):  
Ran Jiao ◽  
Wusheng Chou ◽  
Rui Ding ◽  
Mingjie Dong
Keyword(s):  
Dynamic Models ◽  
Sliding Mode ◽  
Center Of Gravity ◽  
Adaptive Robust Control ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Sliding Mode Controller ◽  
Adaptive Backstepping ◽  
Terminal Sliding Mode ◽  
Variable Center

The control of quadrotor equipped with a robotic arm has received growing challenges. This article proposes a new adaptive control strategy of quadrotor equipped with a 2-degree-of-freedom robotic arm. To consider the positional variety of the center of gravity caused by the motion of the robotic arm, the kinematic and dynamic models are built. Based on the presented models, a backstepping and sliding mode controller with a terminal sliding mode manifold is first applied to cope with the condition in which the robotic arm is motionless relative to the quadrotor. As the evolvement of the backstepping and sliding mode controller, a novel adaptive backstepping and sliding mode controller is then designed for the vehicle with the robotic arm wavering. The robustness and effectiveness of the proposed control law are investigated through both simulations and flight tests. With the proposed control laws, several simulations are conducted in conditions of both a variable and a constant center of gravity, and the performance of hovering is tested with a variable center of gravity in an experiment. Overall results show that the proposed adaptive backstepping control could estimate and compensate the variable center of gravity which may seriously influence the stabilization of quadrotor flying in the air.

scholarly journals Dynamic analysis of a five degree of freedom robotic arm using MATLAB-Simulink Simscape

2021 ◽  
Vol 343 ◽  
pp. 08004
Author(s):  
Mihai Crenganis ◽  
Alexandru Barsan ◽  
Melania Tera ◽  
Anca Chicea
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Model ◽  
Inverse Kinematics ◽  
Geometric Approach ◽  
Correct Choice ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Inverse Kinematic Problem ◽  
Joint Torques

In this paper, a dynamic analysis for a 5 degree of freedom (DOF) robotic arm with serial topology is presented. The dynamic model of the robot is based on importing a tri-dimensional CAD model of the robot into Simulink®-Simscape™-Multibody™. The dynamic model of the robot in Simscape is a necessary and important step in development of the mechanical structure of the robot. The correct choice of the electric motors is made according to the resistant joint torques determined by running the dynamic analysis. One can import complete CAD assemblies, including all masses, inertias, joints, constraints, and tri-dimensional geometries, into the model block. The first step for executing a dynamic analysis is to resolve the Inverse Kinematics (IK) problem for the redundant robot. The proposed method for solving the inverse kinematic problem for this type of structure is based on a geometric approach and validated afterwards using SimScape Multibody. Solving the inverse kinematics problem is a mandatory step in the dynamic analysis of the robot, this is required to drive the robot on certain user-imposed trajectories. The dynamic model of the serial robot is necessary for the simulation of motion, analysis of the robot’s structure and design of optimal control algorithms.

Human-Like Posture Correction for Seven-Degree-of-Freedom Robotic Arm

2021 ◽  
pp. 1-16
Author(s):  
Yu-Heng Deng ◽  
Jen-Yuan (James) Chang
Keyword(s):  
Support Vector Machine Model ◽  
Humanoid Robots ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Support Vector ◽  
Machine Model ◽  
Human Arm ◽  
Inverse Kinematics Problem ◽  
Point Trajectories ◽  
Point To Point

Abstract Owing to advancements in robotics, researchers have been focusing on integrating humanoid robots into actual environments. Most humanoid robots are equipped with seven-degree-of-freedom (DoF) arms that allow them to be flexible in different scenarios. The controller of a 7-DoF robotic arm must select one solution among the infinite sets of solutions for a given inverse kinematics problem. To date, no suitable approach has been developed for identifying appropriate human-like postures for a robotic arm with an offset wrist configuration. In this paper, we propose a novel algorithm that considers the movement of the human arm to consistently find a suitable human-like posture. First, a one-class support vector machine model is employed to classify human-like postures. Then, the algorithm uses the redundancy characteristic of a 7-DoF robotic arm with a linear regression model to enhance the search of human-like postures. Finally, the proposed algorithm is demonstrated in simulation, where it successfully optimized point-to-point trajectories by modifying only the endpoint posture.

Robotic Arm Movement Optimization Using Soft Computing

2017 ◽  
Vol 6 (1) ◽  
pp. 1
Author(s):  
Surender Kumar ◽  
Kavita Rani ◽  
V. K. Banga
Keyword(s):  
Optimal Control ◽  
Genetic Algorithms ◽  
Soft Computing ◽  
Target Position ◽  
Arm Movement ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Robot Arm ◽  
Soft Computing Techniques ◽  
Simulation Time

<p class="Text">Robots are commonly used in industries due to their versatility and efficiency. Most of them operating in that stage of the manufacturing process where the maximum of robot arm movement is utilized. Therefore, the robots arm movement optimization by using several techniques is a main focus for many researchers as well as manufacturer. The robot arm optimization is This paper proposes an approach to optimal control for movement and trajectory planning of a various degree of freedom in robot using soft computing techniques. Also evaluated and show comparative analysis of various degree of freedom in robotic arm to compensate the uncertainties like movement, friction and settling time in robotic arm movement. Before optimization, requires to understand the robot's arm movement i.e. its kinematics behavior. With the help of genetic algorithms and the model joints, the robotic arm movement is optimized. The results of robotic arm movement is optimal at all possible input values, reaches the target position within the simulation time.</p>

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