Parallel computational algorithms for the simulation of closed-loop robotic systems

Spherical joints have evolved into a critical component of many robotic systems, often used to provide dexterity at the wrist of a manipulator. In this work, a novel 3 degree of freedom spherical joint is proposed, actuated by tendons that run along the surface of the sphere. The joint is mechanically simple and avoids mechanical singularities. The kinematics and mechanics of the joint are modeled and used to develop both open- and closed-loop control systems. Simulated and experimental assessment of the joint performance demonstrates that it can be successfully controlled in 3 degrees of freedom. It is expected that the joint will be a useful option in the development of emerging robotic applications, particularly those requiring miniaturization.

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LMI-BASED TRAJECTORY PLANNING FOR CLOSED-LOOP CONTROL OF ROBOTIC SYSTEMS WITH VISUAL FEEDBACK

Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics ◽

10.5220/0002172200130020 ◽

2009 ◽

Keyword(s):

Visual Feedback ◽

Trajectory Planning ◽

Closed Loop ◽

Robotic Systems ◽

Closed Loop Control ◽

Loop Control

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Stability Analysis for Prioritized Closed-Loop Inverse Kinematic Algorithms for Redundant Robotic Systems

IEEE Transactions on Robotics ◽

10.1109/tro.2009.2017135 ◽

2009 ◽

Vol 25 (5) ◽

pp. 985-994 ◽

Cited By ~ 128

Author(s):

G. Antonelli

Keyword(s):

Stability Analysis ◽

Closed Loop ◽

Inverse Kinematic ◽

Robotic Systems ◽

Loop Inverse

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Stability Analysis for Prioritized Closed-Loop Inverse Kinematic Algorithms for Redundant Robotic Systems

2008 IEEE International Conference on Robotics and Automation ◽

10.1109/robot.2008.4543499 ◽

2008 ◽

Cited By ~ 13

Author(s):

Gianluca Antonelli

Keyword(s):

Stability Analysis ◽

Closed Loop ◽

Inverse Kinematic ◽

Robotic Systems ◽

Loop Inverse

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A Single Differential Equation for First-Excursion Time in a Class of Linear Systems

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4004602 ◽

2011 ◽

Vol 133 (6) ◽

Cited By ~ 1

Author(s):

Matthew B. Greytak ◽

Franz S. Hover

Keyword(s):

Structural Dynamics ◽

Closed Loop ◽

Damping Ratio ◽

Robotic Systems ◽

Time Varying ◽

Stochastic Environments ◽

Closed Loop Systems ◽

Time Varying Systems ◽

Major Application ◽

Excursion Time

First-excursion times have been developed extensively in the literature for oscillators; one major application is structural dynamics of buildings. Using the fact that most closed-loop systems operate with a moderate to high damping ratio, we have derived a new procedure for calculating first-excursion times for a class of linear continuous, time-varying systems. In several examples, we show that the algorithm is both accurate and time-efficient. These are important attributes for real-time path planning in stochastic environments, and hence the work should be useful for autonomous robotic systems involving marine and air vehicles.

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Smart Braid Feedback for the Closed-Loop Control of Soft Robotic Systems

Soft Robotics ◽

10.1089/soro.2016.0056 ◽

2017 ◽

Vol 4 (3) ◽

pp. 261-273 ◽

Cited By ~ 12

Author(s):

Wyatt Felt ◽

Khai Yi Chin ◽

C. David Remy

Keyword(s):

Closed Loop ◽

Robotic Systems ◽

Closed Loop Control ◽

Loop Control

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Abnormal Behavioral Pattern Detection in Closed-Loop Robotic Systems for Zero-Day Deceptive Threats

2020 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM) ◽

10.1109/icieam48468.2020.9112054 ◽

2020 ◽

Author(s):

Anna Gorbenko ◽

Vladimir Popov

Keyword(s):

Closed Loop ◽

Behavioral Pattern ◽

Pattern Detection ◽

Robotic Systems

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Motion Planning for Shape–Controlled Adaptable Buildings Resembling Topologically Closed–Loop Robotic Systems

Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2012-70177 ◽

2012 ◽

Cited By ~ 5

Author(s):

Eftychios G. Christoforou ◽

Andreas Müller ◽

Marios C. Phocas

Keyword(s):

Motion Planning ◽

Shape Control ◽

Degrees Of Freedom ◽

Closed Loop ◽

Robotic Manipulators ◽

Robotic Systems ◽

Superior Performance ◽

Building Structures ◽

Singular Configurations ◽

Shape Controlled

Shape–controlled adaptable building structures have a potential of superior performance and flexibility compared to traditional fixed–shape ones. A building concept is proposed consisting of a number of interconnected planar n–bar linkages performing coordinated motions thus resembling a system of cooperating closed–loop robotic manipulators. For shape control an “effective 4–bar” linkage concept is proposed. That is, each individual n–bar mechanism is equipped with one motion actuator, and at any time of motion its degrees–of–freedom are reduced to one through the selective locking of (n – 4) joints using brakes. Shape adjustments of the overall structure can be carried out through appropriate control sequences where in each step exactly four joints of each linkage are unlocked giving rise to an effective 4–bar system. Motion planning is considered together with the relevant limitations arising from singular configurations that need to be taken into account. The concept is demonstrated through simulation examples.

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