A Robust Controller of Multi DOF-Cooperating Planar Robotic Manipulators Using a Tuned PID Approach

Volume 4A: Dynamics, Vibration, and Control ◽

10.1115/imece2014-36052 ◽

2014 ◽

Author(s):

Dhafar Al-Ani ◽

Hamed H. Afshari ◽

Saeid Habibi

Keyword(s):

Pid Controller ◽

Equations Of Motion ◽

Robotic Manipulators ◽

Robust Controller ◽

Contact State ◽

Practical Applications ◽

Design Values ◽

End Effectors ◽

And Control ◽

The Impact

Usually, a dynamic system with impact conditions is an interesting problem with practical applications in the fields of dynamics, vibrations, and control. One difficulty in controlling robotics (i.e., a multi DOF two-cooperating or two-link planar) is the subject to impact between the end-effectors of manipulators is that the dynamics (i.e., equations of motion) are different when the system status changes suddenly from a non-contact state to a contact state. In this paper, a Tuned PID controller with different design scenarios is developed to regulate the states of two dynamic systems that collide. Further, in this work, three types of errors are used to compare among different cases that are; (1) the steady state error, (2) the root mean square error, and (3) the final value error. The results of the Tuned PID controller are compared to those obtained by a classical PID controller. The PID controller is tuned using the Ziegler–Nicholas approach. The simulation results of the robotic manipulators confirmed the theoretical effectiveness of the proposed controller, based on MATLAB/Simulink. Unlike the classical PID results (i.e., the impact-induced force is found to be 2.0 N), the Tuned PID controller successfully determined the impact-induced force as same as the desired force (i.e., 0.6 N). Moreover, the Tuned PID satisfied all other desired design values.

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Free-flying robots in space: an overview of dynamics modeling, planning and control

Robotica ◽

10.1017/s0263574707003438 ◽

2007 ◽

Vol 25 (5) ◽

pp. 537-547 ◽

Cited By ~ 103

Author(s):

S. Ali A. Moosavian ◽

Evangelos Papadopoulos

Keyword(s):

Control Strategies ◽

Equations Of Motion ◽

Experimental Studies ◽

Robotic Manipulators ◽

Microgravity Environment ◽

Dynamics Modeling ◽

Planning And Control ◽

Fixed Base ◽

And Control ◽

Flying Robots

SUMMARYFree-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space. Nevertheless, even for fixed-base systems, control of mechanical manipulators is a challenging task. This is due to strong nonlinearities in the equations of motion, and consequently different algorithms have been suggested to control end-effector motion or force, since the early research in robotic systems. In this paper, first a brief review of basic concepts of various algorithms in controlling robotic manipulators is introduced. Then, specific problems related to application of such systems in space and a microgravity environment is highlighted. Basic issues of kinematics and dynamics modeling of such systems, trajectory planning and control strategies, cooperation of multiple arm space free-flying robots, and finally, experimental studies and technological aspects of such systems with their specific limitations are discussed.

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Motion control of non-fixed base robotic manipulators

Robotica ◽

10.1017/s0263574799001186 ◽

1999 ◽

Vol 17 (2) ◽

pp. 143-157 ◽

Cited By ~ 11

Author(s):

F.M. Carter ◽

D.B. Cherchas

Keyword(s):

Motion Control ◽

Equations Of Motion ◽

Three Dimensional ◽

Robotic Manipulators ◽

Inverse Kinematic ◽

Experimental Simulation ◽

Fixed Base ◽

And Control ◽

Trajectory Generator ◽

Base Object

Robotic manipulators mounted on spacecraft experience a number of kinematic, dynamic, and control problems because the motion of the spacecraft is affected by the robot motion. In this paper, the general three dimensional equations of motion are derived for an n link manipulator mounted on a non-fixed base object. Instead of performing a single inverse kinematic calculation at the beginning of a movement to determine the required joint setpoints, multiple inverse kinematic updates are done throughout a movement. The updating sequence is determined by an optimal inverse kinematic updating algorithm. This motion control algorithm is based on experimental simulation results performed in Matlab and a set of performance indices that are used as guidelines. Simple PD joint controllers and a special joint trajectory generator are used for servoing the manipulator joints for a planar robot application. The derived motion control techniques incorporate the base motion without base motion control.

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THE EFFECTIVENESS OF PSYCHOLOGICAL SKILLS TRAINING PROGRAM ON NETBALL SHOOTING PERFORMANCE

Jurnal Cakrawala Pendidikan ◽

10.21831/cp.v38i1.23206 ◽

2019 ◽

Vol 38 (1) ◽

pp. 174-187

Author(s):

Jamatul Shahidah Shaari ◽

Lim Boon Hooi ◽

Siswantoyo Siswantoyo

Keyword(s):

Training Program ◽

Skills Training ◽

Control Group ◽

Psychological Skills ◽

Physical Practice ◽

Psychological Skills Training ◽

Practical Applications ◽

Short Period ◽

And Control ◽

The Impact

The study was aimed to investigate the effect of Psychological Skills Training Program on netball shooting performance. The experimental method was used on three groups of an 8-week intervention: combination of diaphragmatic breathing and imagery, plus physical practice (G1); combination of DB and self-talk, plus physical practice (G2); and control group which have physical practice only (G3). A SPANOVA was conducted to assess the impact of all groups on shooting performance across the two time periods. The main effect comparing the two treatments and a control group was significant, p < .001. Post hoc Tukey test differ significantly at p < .05. However, the G2 was not significantly different from the G3. The results indicated that netballers of different skill used of PST, either G1 or G2 were found to improve the netball shooting performance. It was also showed that G1 has better netball shooting performance rather than G2 and G3. As to highlighting, that the principles and practical applications of these most basic psychological skills can be taught in easier ways and probably in a relative short period of time among youth athletes.

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A study on control of novel corona-virus (2019- nCoV) disease process by using PID controller

10.1101/2020.04.19.20071654 ◽

2020 ◽

Author(s):

Habibolah Arasteh rad ◽

Arshia Badi

Keyword(s):

Infectious Diseases ◽

Dynamic Model ◽

Social Distance ◽

Pid Controller ◽

Disease Process ◽

Economic Losses ◽

Control Engineering ◽

Corona Virus ◽

And Control ◽

The Impact

AbstractBackgroundIn this paper, the SEIR dynamic model will be used to model the epidemic of coronvirus (2019-nCoV)disease. The SEIR model has been used to model infectious diseases in Malaysia.Then, the spread and control of the disease is simulated applying a PID controller. The results of this study show that the implementation of strict restrictions such as quarantine, social distancing and closure of gathering centers is effective in controlling the disease. Using the results and analyzing them, it was found that early and strict implementation of strict restrictions such as quarantine, social distance and closure of centers with a high percentage of community is very important to control this disease and prevent irreparable economic losses and depreciation of medical staff.ObjectiveModeling the prevalence and control of corona-virus (2019-nCoV)and the impact of government actions using control engineering methods.MethodIn this study, the SEIR dynamic model was used and the common data on the prevalence of the virus in Wuhan, China and Malaysia were used. As an example, the use of control target schemes is simulated in this paper.ResultsThe findings of this study use control methods and forecasting in control engineering to provide a clear picture of macro-decisions for different governments in the field of infectious diseases.ConclusionManagement and control schemes such as travel restrictions, quarantine, social distance and closure of offices, higher education institutions must be implemented immediately to prevent major economic and social losses. The implementation of these restrictions should not be delayed during the outbreak of corona-virus(2019-nCoV) infectious diseases.

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On Modeling and to Impact Dynamic Equations of Multi-Rigid-Link Robotics Having Simultaneous Collisions With Frictional Impulses

Dynamic Systems and Control, Parts A and B ◽

10.1115/imece2006-15186 ◽

2006 ◽

Author(s):

Xiuping Mu ◽

Qiong Wu ◽

Yanping Mu

Keyword(s):

Robotic Manipulators ◽

Robotic Systems ◽

Dynamic Equations ◽

Impact Dynamics ◽

Impulsive Forces ◽

Robotic Manipulations ◽

Potential Damage ◽

And Control ◽

The Impact ◽

Contact Tasks

Impact plays an important role in robotic manipulations. As robotic manipulators interact with their environment or objects, the motion of the system varies discontinuously and large impulsive forces are created at the surface of contact and are transmitted through the system, particularly when the motion of the manipulator is fast. With the demands for more precise and faster performance of robotic manipulators and minimizing potential damage of the system, being able to better simulate and control impact has become essential. In this paper, the impact dynamics describing simultaneous collisions of multi-link robotics with frictional impulses are investigated. The solutions for the after-impact velocities and impulses are provided in a closed form which can be easily employed for simulating robotic system contact states. The results are also important for the motion planning and impact control of robotic systems with contact tasks.

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Modelado y simulación del péndulo de base móvil

Revista de Simulación y Laboratorio ◽

10.35429/jsl.2019.20.6.15.22 ◽

2019 ◽

pp. 15-22

Author(s):

Filemón López-Ortega ◽

Martha Cárdenas-Maciel ◽

Rogelio Serrano-Zepeda ◽

Miguel Ángel Lara-Ceballos

Keyword(s):

Pid Controller ◽

Angular Displacement ◽

Equations Of Motion ◽

Closed Loop System ◽

Marine Vehicles ◽

Free Body Diagram ◽

Free Body ◽

Physical Laws ◽

And Control ◽

Mobile Base

This article describes the simulation and control of a mobile base pendulum (PBM), which consists of a mechanism with two wheels and a vertical cylindrical rod, which can rotate freely on its own axis, then the mobile must move to compensate for the angular displacement of the pendulum. The objective is to develop a mathematical model to simulate the dynamic behavior of the mechanism and thereby develop a Proportional, Integral and Derivative (PID) controller, optimal that manages to maintain this pendulum at a vertical degree in a time ts ≤ 1 second, with an entry angle of ± 10 degrees. The Newton-Euler (NE) methodology was used to determine the dynamic equations of motion, by analyzing the free body diagram and using the physical laws that allow defining the forces acting on the system to achieve the state of equilibrium. These simulations were carried out with the SolidWorks (SimMechanics Link) and Matlab (Simulink) tools, in addition a closed loop system was used to analyze the output signal Y (s) with respect to the input signal U (s). The contributions of this development consist of designing high-precision controllers with the purpose of improving industrial automation processes from the implementation of a control system, in areas such as robotics, marine vehicles, aerospace, to name a few examples.

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Suppressed, but Not Forgotten

Swiss Journal of Psychology ◽

10.1024/1421-0185/a000033 ◽

2011 ◽

Vol 70 (1) ◽

pp. 5-11 ◽

Cited By ~ 8

Author(s):

Beat Meier ◽

Anja König ◽

Samuel Parak ◽

Katharina Henke

Keyword(s):

Memory Trace ◽

Thought Suppression ◽

Test Phase ◽

Indirect Test ◽

Final Test ◽

Test Experiment ◽

And Control ◽

Cue Words ◽

The Impact

This study investigates the impact of thought suppression over a 1-week interval. In two experiments with 80 university students each, we used the think/no-think paradigm in which participants initially learn a list of word pairs (cue-target associations). Then they were presented with some of the cue words again and should either respond with the target word or avoid thinking about it. In the final test phase, their memory for the initially learned cue-target pairs was tested. In Experiment 1, type of memory test was manipulated (i.e., direct vs. indirect). In Experiment 2, type of no-think instructions was manipulated (i.e., suppress vs. substitute). Overall, our results showed poorer memory for no-think and control items compared to think items across all experiments and conditions. Critically, however, more no-think than control items were remembered after the 1-week interval in the direct, but not in the indirect test (Experiment 1) and with thought suppression, but not thought substitution instructions (Experiment 2). We suggest that during thought suppression a brief reactivation of the learned association may lead to reconsolidation of the memory trace and hence to better retrieval of suppressed than control items in the long term.

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Research Participation Experiences of Informants of Suicide and Control Cases

Crisis ◽

10.1027/0227-5910/a000025 ◽

2010 ◽

Vol 31 (5) ◽

pp. 238-246 ◽

Cited By ~ 9

Author(s):

Paul W. C. Wong ◽

Wincy S. C. Chan ◽

Philip S. L. Beh ◽

Fiona W. S. Yau ◽

Paul S. F. Yip ◽

...

Keyword(s):

Ethical Issues ◽

Research Participation ◽

Self Report ◽

Initial Contact ◽

Psychological Autopsy ◽

Autopsy Study ◽

The People ◽

And Control ◽

The Impact

Background: Ethical issues have been raised about using the psychological autopsy approach in the study of suicide. The impact on informants of control cases who participated in case-control psychological autopsy studies has not been investigated. Aims: (1) To investigate whether informants of suicide cases recruited by two approaches (coroners’ court and public mortuaries) respond differently to the initial contact by the research team. (2) To explore the reactions, reasons for participation, and comments of both the informants of suicide and control cases to psychological autopsy interviews. (3) To investigate the impact of the interviews on informants of suicide cases about a month after the interviews. Methods: A self-report questionnaire was used for the informants of both suicide and control cases. Telephone follow-up interviews were conducted with the informants of suicide cases. Results: The majority of the informants of suicide cases, regardless of the initial route of contact, as well as the control cases were positive about being approached to take part in the study. A minority of informants of suicide and control cases found the experience of talking about their family member to be more upsetting than expected. The telephone follow-up interviews showed that none of the informants of suicide cases reported being distressed by the psychological autopsy interviews. Limitations: The acceptance rate for our original psychological autopsy study was modest. Conclusions: The findings of this study are useful for future participants and researchers in measuring the potential benefits and risks of participating in similar sensitive research. Psychological autopsy interviews may be utilized as an active engagement approach to reach out to the people bereaved by suicide, especially in places where the postvention work is underdeveloped.

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