Input-dependent stability on joint torque control of robot hand

2002 ◽  
Author(s):  
M. Kaneko ◽  
W. Paetsch ◽  
G. Kegel ◽  
H. Tolle
Keyword(s):  
Torque Control ◽  
Joint Torque ◽  
Robot Hand

The development of robot hand with joint torque sensor based on torque control

2010 ◽  
Vol 2010.5 (0) ◽  
pp. 462-467
Author(s):  
Hwadong Sun ◽  
Seunghwan Kim ◽  
Daehie Hong ◽  
Daeho Kim ◽  
Jung-Hoon Hwang ◽  
...  
Keyword(s):  
Torque Control ◽  
Joint Torque ◽  
Robot Hand ◽  
Torque Sensor ◽  
Joint Torque Sensor

scholarly journals Robot Hand Imitating Disabled Person for Education/Training of Rehabilitation

2008 ◽  
Vol 20 (2) ◽  
pp. 280-288 ◽  
Author(s):  
Tetsuya Mouri ◽  
◽  
Haruhisa Kawasaki ◽  
Yutaka Nishimoto ◽  
Takaaki Aoki ◽  
...  
Keyword(s):  
Force Control ◽  
Disabled Persons ◽  
Rehabilitation Program ◽  
Torque Control ◽  
Joint Torque ◽  
Human Hand ◽  
Robot Hand ◽  
Tactile Sensors ◽  
Design Concepts ◽  
The Disabled

Because rehabilitation therapy students have few chances to train on disabled persons, we developed a robot hand for finger and wrist rehabilitation training, working hand with doctors and therapists, based on new design concepts imitating the disabled human hand. A joint torque rehabilitation program is calculated using distributed tactile sensors and a model of contracture joints with tendon adhesion. The hand is controlled by the force control based on torque control. The hand's effectiveness was demonstrated experimentally, and the robot is used by therapists to evaluate its efficacy.

scholarly journals Multiple Working Mode Based Door Opening Control and Fault Detection of Mobile Modular and Reconfigurable Robot

2021 ◽  
Author(s):  
Saleh Ahmad Ali
Keyword(s):  
Fault Detection ◽  
Control Design ◽  
Torque Control ◽  
Experimental Results ◽  
Joint Torque ◽  
Detection Scheme ◽  
Door Opening ◽  
Position Errors ◽  
Internal Forces ◽  
Reconfigurable Robot

The study in this thesis addresses the problem of opening a door with a modular and reconfigurable robot (MRR) mounted on a wheeled mobile robot platform. The foremost issue with door opening problems is the prevention of occurrence of large internal forces that arise due to position errors or imprecise modeling of the robot or its environment, i.e. the door parameters, specifically. Unlike previous methods that relied on compliance control, making the control design rather complicated, this thesis presents a new concept that utilizes the multiple working modes of the MRR modules. The control design is significantly simplified by switching selected joints of the MRR to work in passive mode during door opening operation. As a result, the occurrence of large internal forces is prevented. Different control schemes are used for control of the joint modules in different working modes. For passive joint modules, a feedforward torque control approach is used to compensate the joint friction to ensure passive motion. For the active joint modules, a distributed control method, based on torque sensing, is used to facilitate the control of joint modules working under this mode. To enable autonomous door opening, an online door parameter estimation algorithm is proposed on the basis of the least squares method; and a path planning algorithm is developed on the basis of Hermite cubic spline functions, with consideration of motion constraints of the mobile MRR. The theory is validated using simulations and experimental results, as presented herein. A distributed fault detection scheme for MRR robots with joint torque sensing is also proposed in this thesis. The proposed scheme relies on filtering the joint torque command and comparing it with a filtered torque estimate that is derived from the nonlinear dynamic model of MRR with joint torque sensing. Common joint actuator faults are considered with fault detection being performed independently for each joint module. The proposed fault detection scheme for each module does not require motion states of any other module, making it an ideal modular approach for fault detection of modular robots. Experimental results have attested the effectiveness of the proposed fault detection scheme.

Joint torque control for two-inertia system with encoders on drive and load sides

2015 ◽  
Author(s):  
Shota Yamada ◽  
Kenji Inukai ◽  
Hiroshi Fujimoto ◽  
Kenji Omata ◽  
Yuki Takeda ◽  
...  
Keyword(s):  
Torque Control ◽  
Joint Torque

scholarly journals Unidirectional variable stiffness hydraulic actuator for load-carrying knee exoskeleton

2017 ◽  
Vol 14 (1) ◽  
pp. 172988141668695 ◽  
Author(s):  
Jun Zhu ◽  
Yu Wang ◽  
Jinlin Jiang ◽  
Bo Sun ◽  
Heng Cao
Keyword(s):  
High Efficiency ◽  
Experimental Testing ◽  
Variable Stiffness ◽  
Torque Control ◽  
Joint Torque ◽  
Hydraulic Actuator ◽  
Passive Behavior ◽  
Compliance Behavior ◽  
Load Carrying ◽  
Passive Compliance

This article presents the design and experimental testing of a unidirectional variable stiffness hydraulic actuator for load-carrying knee exoskeleton. The proposed actuator is designed for mimicking the high-efficiency passive behavior of biological knee and providing actively assistance in locomotion. The adjustable passive compliance of exoskeletal knee is achieved through a variable ratio lever mechanism with linear elastic element. A compact customized electrohydraulic system is also designed to accommodate application demands. Preliminary experimental results show the prototype has good performances in terms of stiffness regulation and joint torque control. The actuator is also implemented in an exoskeleton knee joint, resulting in anticipant human-like passive compliance behavior.

scholarly journals Robust Control for a 3DOF Articulated Robotic Manipulator Joint Torque under Uncertainties

2020 ◽  
pp. 1-13
Author(s):  
Chukwudi Emmanuel Agbaraji ◽  
Uchenna Henrietta Udeani ◽  
Hyacinth Chibueze Inyiama ◽  
Christiana Chikodi Okezie
Keyword(s):  
Robust Control ◽  
Pid Controller ◽  
Research Work ◽  
Robotic Manipulator ◽  
Torque Control ◽  
Joint Torque ◽  
Low Frequencies ◽  
H Infinity ◽  
Stability Robustness ◽  
Peak Sensitivity

This research work emphasizes on design of a robust control for a 3DOF robotic manipulator under uncertainties. The plant model was achieved using the independent joint method and the uncertainty problem was addressed by designing a robust controller using H-Infinity synthesis which was compared with PID. This was achieved with algorithms implemented in MATLAB. The H-Infinity controller recorded 0dB, while PID controller recorded 0.117dB and 0.061dB for joints I and II respectively in Complementary Sensitivity (T) graph at low frequencies. H-Infinity controller achieved better disturbance rejection characteristics with sensitivity (S) graph recording peak sensitivity of 0.817dB and 1.79dB at joints I and II respectively than PID controller which achieved 3dB and 1.86dB at joints I and II respectively. H-Infinity controller achieved better noise rejection characteristics with T graph recording lower gains at joints I and II respectively at high frequencies than PID controller which recorded higher gains at joints I and II respectively. Thus, it was concluded that the H-Infinity controller achieved better performance and stability robustness characteristics for the joint torque control than the PID.

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