Design and Control of Supporting Arm for Reducing Factory Worker Load With Desired Support Force and Stiffness Characteristics

2016 ◽  
Author(s):  
Tetsuro Miyazaki ◽  
Takuya Iijima ◽  
Kazushi Sanada
Keyword(s):  
Degrees Of Freedom ◽  
Control Method ◽  
Robot Manipulator ◽  
Experimental System ◽  
Factory Worker ◽  
Target Weight ◽  
Support Force ◽  
Stiffness Characteristics ◽  
And Control ◽  
Pneumatic Cylinders

This paper proposes a design and control method of a supporting arm which reduces factory worker load. The supporting arm is a robot manipulator, which is driven by pneumatic cylinders, and is attached to the worker’s hip. In some situation, the factory worker is forced to work with an uncomfortable posture. By using the supporting arm, the worker leg loads are relaxed, and the worker posture is stabilized. To support 50 % weight of the worker, the link system of the supporting arm is designed, and the pneumatic cylinders for actuation are selected. There are two required specifications: (i) support force is sufficient for supporting target load, and (ii) desired stiffness characteristics in the hip height direction can be obtained. The support force is controlled by a two degrees of freedom control system to satisfy the required specifications. An experimental system of the supporting arm was developed, and its performance was evaluated by experiments. As a result, the experimental system shows capability of supporting the target weight and controllability of stiffness.

Modelling and control of manipulators with flexible links working on land and underwater environments

Robotica ◽  
2010 ◽  
Vol 29 (3) ◽  
pp. 461-470 ◽  
Author(s):  
Levent Gümüşel ◽  
Nurhan Gürsel Özmen
Keyword(s):  
Fuzzy Control ◽  
Control Method ◽  
Robot Manipulator ◽  
Control Methods ◽  
Control Laws ◽  
Linear Ordinary Differential Equations ◽  
Intelligent Technique ◽  
Wide Range ◽  
Classical Control ◽  
And Control

SUMMARYIn this study, modelling and control of a two-link robot manipulator whose first link is rigid and the second one is flexible is considered for both land and underwater conditions. Governing equations of the systems are derived from Hamilton's Principle and differential eigenvalue problem. A computer program is developed to solve non-linear ordinary differential equations defining the system dynamics by using Runge–Kutta algorithm. The response of the system is evaluated and compared by applying classical control methods; proportional control and proportional + derivative (PD) control and an intelligent technique; integral augmented fuzzy control method. Modelling of drag torques applied to the manipulators moving horizontally under the water is presented. The study confirmed the success of the proposed integral augmented fuzzy control laws as well as classical control methods to drive flexible robots in a wide range of working envelope without overshoot compared to the classical controls.

Mechanical Design and Control Method of a Hollow Modular Joint for Minimally Invasive Spinal Surgery

2018 ◽  
Vol 15 (04) ◽  
pp. 1850017
Author(s):  
Guoli Song ◽  
Che Hou ◽  
Yiwen Zhao ◽  
Xingang Zhao ◽  
Jianda Han
Keyword(s):  
Minimally Invasive ◽  
Spinal Surgery ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Mechanical Design ◽  
Control Design ◽  
Torque Sensor ◽  
Minimally Invasive Spinal Surgery ◽  
Minimally Invasive Surgical ◽  
And Control

Design of the hollow modular joint plays an important role in modern robot layout, fixation, and wiring. In this paper, a hollow modular joint that meets the requirement of a minimally invasive surgical robot is proposed. The mechanical and control design is sequentially illustrated, and the torque sensor and its optimization are provided. Furthermore, a free-force control method is introduced. To analyze the designed module, the simulation of the redundant robot, comprised of the designed joint in seven degrees of freedom, is presented. The results of analyses showed that the designed hollow modular joint is valid and effective.

scholarly journals Analysis and Control of Slotless Self-Bearing Motor

Actuators ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 57
Author(s):  
Nguyen ◽  
Nguyen ◽  
Bui ◽  
Ueno ◽  
Nguyen
Keyword(s):  
Control System ◽  
Permanent Magnet ◽  
Control Method ◽  
Experimental System ◽  
Iron Core ◽  
Radial Pulse ◽  
Magnetic Forces ◽  
Measurement Results ◽  
And Control ◽  
The Magnetic Field

A self-bearing motor (SBM) is an electric motor with a magnetically integrated bearing function, that is, it can provide levitation and rotation simultaneously as a single actuator. This paper presents the design, operating principle and control system for the slotless self-bearing motor (SSBM). In this design, the stator has no iron core but includes six-phase coils. The rotor consists of a permanent magnet and an enclosed iron yoke. Magnetic forces generated by the interaction between stator currents and the magnetic field of the permanent magnet are used to control the rotational speed and radial position of the rotor. In this paper, the torque and radial bearing forces are analyzed theoretically with the aim to develop an improved control system. In order to confirm the proposed control method, an experimental system was constructed and tested. Simulation and measurement results show that the SSBM can work stably in modes such as start, reverse, rotation load and external radial pulse forces.

Microcomputer Interface Experimental System Design

2014 ◽  
Vol 721 ◽  
pp. 626-630
Author(s):  
Wen Jing Cai ◽  
Hong Sheng Peng
Keyword(s):  
Control Method ◽  
Experimental System ◽  
The Self ◽  
Experimental Program ◽  
Dynamic Link Library ◽  
Interface Card ◽  
Experimental Platform ◽  
System Calls ◽  
Microcomputer Control ◽  
And Control

The experiment is an important part in the learning of microcomputer control technology. This paper presents a set of microcomputer interface experimental platform, which based on VC++ interface software and control method, and combined with PCI panel and experiment box. This experimental system calls the functions in the dynamic link library of the PCI-7483 interface card through the self-developed experimental program, and makes use of the resources of PCI interface card to control the hardware experimental box, to complete the basic and the extensional experiments, and indicates and reflects the results of the experiment by the hardware experimental box. This experimental system can help optimize the experimental curricula, and improve the students' practical ability and analysis ability.

scholarly journals Design, construction and control of a SCARA manipulator with 6 degrees of freedom

2019 ◽  
Vol 17 (2) ◽  
Author(s):  
Claudio Urrea ◽  
Juan Cortés
Keyword(s):  
Control Systems ◽  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Matlab Simulink ◽  
Graphic Interface ◽  
Control Techniques ◽  
Design And Implementation ◽  
6 Degrees Of Freedom ◽  
And Control ◽  
Design Construction

The design and implementation of a robot manipulator with 6 Degrees Of Freedom (DOF), which constitutes a physical platform on which a variety of control techniques can be tested and studied, are presented. The robot has mechanical, electronic and control systems, and the intuitive graphic interface designed and implemented for it allows the user to easily command this robot and to generate trajectories for it . Materializing this work required the integration of knowledge in electronics, microcontroller programming, MatLab/Simulink programming, control systems, communication between PCs and microcontrollers, mechanics, assembly, etc.

Minimum Base Disturbance Control of Free-Floating Space Robot during Visual Servoing Pre-capturing Process

Robotica ◽  
2019 ◽  
Vol 38 (4) ◽  
pp. 652-668 ◽  
Author(s):  
Xiaoyu Zhao ◽  
Zongwu Xie ◽  
Haitao Yang ◽  
Jiarui Liu
Keyword(s):  
Visual Servoing ◽  
Degrees Of Freedom ◽  
Control Method ◽  
System Modeling ◽  
Space Robot ◽  
Order Continuity ◽  
Control Center ◽  
Optimal Control Method ◽  
And Control ◽  
Base Disturbance

SUMMARYDuring visual servoing space activities, the attitude of free-floating space robot may be disturbed due to dynamics coupling between the satellite base and the manipulator. And the disturbance may cause communication interruption between space robot and control center on earth. However, it often happens that the redundancy of manipulator is not enough to fully eliminate this disturbance. In this paper, a method named off-line optimizing visual servoing algorithm is innovatively proposed to minimize the base disturbance during the visual servoing process where the degrees-of-freedom of the manipulator is not enough for a zero-reaction control. Based on the characteristic of visual servoing process and the robot system modeling, the optimal control method is applied to achieve the optimization, and a pose planning method is presented to achieve a second-order continuity of quaternion getting rid of the interruption caused by ambiguity. Then simulations are carried out to verify the method, and the results show that the robot is controlled with optimized results during visual servoing process and the joint trajectories are smooth.

scholarly journals Intelligent and Hybrid Control Method of a 3-DOF Robot Used for Hip, Knee and  Ankle Rehabilitation

2020 ◽  
Author(s):  
wahab aminiazar ◽  
Rasoul Farahi
Keyword(s):  
Control Method ◽  
Hybrid Control ◽  
Robot Manipulator ◽  
Specific Area ◽  
Inverse Kinematic ◽  
Control Parameters ◽  
Safety Factors ◽  
Adaptive Controls ◽  
Planar Robot ◽  
And Control

Abstract Background: There is an increasing trend in using robots for medical purposes. One specific area is rehabilitation. Rehabilitation is one of the non-drug treatments in community health which means the restoration of the abilities to maximize independence. It is a prolonged work and costly labor. On the other hand, by using the flexible and efficient robots in rehabilitation area, this process will be more useful for handicapped patients.Methods: In this study, a rule-based intelligent control methodology is proposed to mimic the behavior of a healthy limb in a satisfactory way by a 3-DOF planar robot. Inverse kinematic of the planar robot will be solved by neural networks and control parameters will be optimized by genetic algorithm, as rehabilitation progress.Results: The results of simulations are presented by defining a physiotherapy simple mode on desired trajectory. MATLAB/Simulink is used for simulations. The system is capable of learning the action of the physiotherapist for each patient and imitating this behaviour in the absence of a physiotherapist that can be called robotherapy.Conclusions: In this study, a therapeutic exercise planar 2-DOF robot is designed and controlled for lower-limb rehabilitation. The robot manipulator is controlled by combination of hybrid and adaptive controls. Some safety factors and stability constraints are defined and obtained. The robot is stopped when the safety factors are not satisfied. Kinematics of robot is estimated by an MLP neural network and proper control parameters are achieved using GA optimization

Development of an Active Worktable and Its Application to Force Control of Robot Manipulators

2000 ◽  
Vol 12 (3) ◽  
pp. 249-253
Author(s):  
Shin-ichi Nakajima ◽  
Keyword(s):  
Force Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Robot Manipulators ◽  
Compliant Motion ◽  
Stiffness Control

An active worktable, which can be applied to force control tasks of commercial robot manipulators, has been designed and built. The active worktable has several degrees of freedom and accommodates its position/force in accordance with the motion of a robot manipulator. A stiffness control method and an impedance control method are implemented in the active worktable to achieve compliant motion. Several experiments were carried out to confirm basic effectiveness of the active worktable.

The Effects of the Manipulator Type on the Vibrational Excitation During Motion

1992 ◽  
Author(s):  
Q. Tu ◽  
Jahangir Rastegar
Keyword(s):  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Vibrational Excitation ◽  
Mechanical Systems ◽  
Average Energy ◽  
Structural Type ◽  
Higher Harmonics ◽  
Modes Of Vibration ◽  
Prismatic Joints ◽  
And Control

Abstract The relationship between the structural type of a manipulator and its susceptibility to motion induced vibrational excitation is examined. For manipulators of different type, the average potential resonant energy transfer to a robot manipulator system by the higher harmonics of the actuating torques (forces) necessary for tracking trajectories that are uniformly distributed within a representative task space are determined, and used as a measure of the potential for vibrational excitation during motion. The manipulators are kinematically and dynamically equivalent. From the vibration and control points of view, manipulator types that do not demand high frequency actuating torque harmonics are more desirable, since the natural modes of vibration of mechanical systems are most likely to be excited by the higher harmonics of the actuating torques, and because of practical dynamic response limitations of all mechanical systems. As examples, plane two and three degrees-of-freedom manipulators constructed with revolute and prismatic joints are studied. Numerical calculations of the aforementioned and the total expected (average) energy input and the corresponding variances are presented for the two degrees-of-freedom manipulators. A number of points of interest are discussed.

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