Embedded structural-actuator system for hyper redundant robot serpentine gait modeling

2015 ◽  
Author(s):  
Samsi Md Said ◽  
Amir Sharizam Ismail ◽  
Tengku Mohd Azahar Tuan Dir ◽  
Jamel Othman
Keyword(s):  
Redundant Robot ◽  
Actuator System

Whole Arm Grasping Control for Redundant Robot Manipulators

2005 ◽  
Author(s):  
D. Braganza ◽  
M. L. McIntyre ◽  
D. M. Dawson ◽  
I. Walker
Keyword(s):  
Robot Manipulators ◽  
Redundant Robot

scholarly journals Backstepping Sliding-Mode Control of Piezoelectric Single-Piston Pump-Controlled Actuator

Actuators ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 154
Author(s):  
Bin Wang ◽  
Pengda Ren ◽  
Xinhao Huang
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Piezoelectric Pump ◽  
Mode Control ◽  
Control Precision ◽  
Backstepping Sliding Mode Control ◽  
Actuator System ◽  
The Mathematical Model

A piston piezoelectric (PZT) pump has many advantages for the use of light actuators. How to deal with the contradiction between the intermittent oil supplying and position control precision is essential when designing the controller. In order to accurately control the output of the actuator, a backstepping sliding-mode control method based on the Lyapunov function is introduced, and the controller is designed on the basis of establishing the mathematical model of the system. The simulation results show that, compared with fuzzy PID and ordinary sliding-mode control, backstepping sliding-mode control has a stronger anti-jamming ability and tracking performance, and improves the control accuracy and stability of the piezoelectric pump-controlled actuator system.

scholarly journals Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199399
Author(s):  
Xiaoguang Li ◽  
Bi Zhang ◽  
Daohui Zhang ◽  
Xingang Zhao ◽  
Jianda Han
Keyword(s):  
Adaptive Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Control Method ◽  
Control Law ◽  
Reference Trajectory ◽  
Disturbance Compensation ◽  
Comparison Results ◽  
Control Scheme ◽  
Actuator System

Shape memory alloy (SMA) has been utilized as the material of smart actuators due to the miniaturization and lightweight. However, the nonlinearity and hysteresis of SMA material seriously affect the precise control. In this article, a novel disturbance compensation-based adaptive control scheme is developed to improve the control performance of SMA actuator system. Firstly, the nominal model is constructed based on the physical process. Next, an estimator is developed to online update not only the unmeasured system states but also the total disturbance. Then, the novel adaptive controller, which is composed of the nominal control law and the compensation control law, is designed. Finally, the proposed scheme is evaluated in the SMA experimental setup. The comparison results have demonstrated that the proposed control method can track reference trajectory accurately, reject load variations and stochastic disturbances timely, and exhibit satisfactory robust stability. The proposed control scheme is system independent and has some potential in other types of SMA-actuated systems.

Manipulator system designs for drawing random objects through point cloud posture estimation

2021 ◽  
pp. 095440542097946
Author(s):  
Ching-Chang Wong ◽  
Hsuan Ming Feng ◽  
Yu-Cheng Lai ◽  
Hsiang-Yun Chen
Keyword(s):  
Point Cloud ◽  
Null Space ◽  
Robot Manipulator ◽  
Search Algorithm ◽  
Movement Control ◽  
Control Policy ◽  
Device Management ◽  
Redundant Robot ◽  
Better Regulation ◽  
The Right

This paper designed a 7-DOF redundant robot manipulator that can flexibly and efficiently pick-up random objects. The developed 7-DOF machine with an additional redundancy achieved great progress in terms of flexibility and efficiency in the operational space. A robot operating system (ROS) was used to configure the manipulator system’s software modules, supporting convenient system interface, appropriate movement control policy, and powerful hardware device management for better regulation of the manipulator’s motions. A 3D type Point Cloud Library (PCL) was utilized to perform a novel point cloud image pre-processing method that did not only reduce the point cloud number but also maintained the original quality. The results of the experiment showed that the estimation speed in object detection and recognition procedure improved significantly. The redundant robot manipulator architecture with the two-stage search algorithm was able to find the optimal null space. Suitable parameters in D-H transformation of forward kinematics were selected to efficiently control and position the manipulator in the right posture. Meanwhile, the reverse kinematics estimated all angles of the joints through the known manipulator position, orientation, and redundancy. Finally, motion panning implementation of manipulator rapidly and successfully reached the random object position and automatically drew it up to approximate the desired target.

scholarly journals High-Fidelity Fin–Actuator System Modeling and Aeroelastic Analysis Considering Friction Effect

2021 ◽  
Vol 11 (7) ◽  
pp. 3057
Author(s):  
Jin Lu ◽  
Zhigang Wu ◽  
Chao Yang
Keyword(s):  
System Modeling ◽  
Past Research ◽  
High Fidelity ◽  
Aeroelastic Stability ◽  
Aeroelastic Analysis ◽  
Structural Nonlinearities ◽  
Flutter Boundary ◽  
Actuator System ◽  
Friction Models ◽  
Comparison Of The Results

Both the dynamic characteristics and structural nonlinearities of an actuator will affect the flutter boundary of a fin–actuator system. The actuator models used in past research are not universal, the accuracy is difficult to guarantee, and the consideration of nonlinearity is not adequate. Based on modularization, a high-fidelity modeling method for an actuator is proposed in this paper. This model considers both freeplay and friction, which is easy to expand. It can be directly used to analyze actuator characteristics and perform aeroelastic analysis of fin–actuator systems. Friction can improve the aeroelastic stability, but the mechanism of its influence on the aeroelastic characteristics of the system has not been reported. In this paper, the LuGre model, which can better reflect the friction characteristics, was integrated into the actuator. The influence of the initial condition, freeplay, and friction on the aeroelastic characteristics of the system was analyzed. The comparison of the results with the previous research shows that oversimplified friction models are not accurate enough to reflect the mechanism of friction’s influence. By changing the loads, material, and geometry of contact surfaces, flutter can be effectively suppressed, and the power loss caused by friction can be minimized.

scholarly journals Electromagnetic Actuator System Using Witty Control System

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 65
Author(s):  
Der-Fa Chen ◽  
Shen-Pao-Chi Chiu ◽  
An-Bang Cheng ◽  
Jung-Chu Ting
Keyword(s):  
Control System ◽  
Control Method ◽  
Search Algorithm ◽  
Electromagnetic Actuator ◽  
Control Performance ◽  
Learning Capability ◽  
Learning Rates ◽  
Agricultural Applications ◽  
Actuator System ◽  
Rice Milling

Electromagnetic actuator systems composed of an induction servo motor (ISM) drive system and a rice milling machine system have widely been used in agricultural applications. In order to achieve a finer control performance, a witty control system using a revised recurrent Jacobi polynomial neural network (RRJPNN) control and two remunerated controls with an altered bat search algorithm (ABSA) method is proposed to control electromagnetic actuator systems. The witty control system with finer learning capability can fulfill the RRJPNN control, which involves an attunement law, two remunerated controls, which have two evaluation laws, and a dominator control. Based on the Lyapunov stability principle, the attunement law in the RRJPNN control and two evaluation laws in the two remunerated controls are derived. Moreover, the ABSA method can acquire the adjustable learning rates to quicken convergence of weights. Finally, the proposed control method exhibits a finer control performance that is confirmed by experimental results.

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